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System philosophy
2
System philosophy
2.1
Introduction
The system philosophy is centred around the relationship between:
•
System architecture
•
Cycle time
•
Program control and multi-tasking
•
Motion sequence and axes
•
Motion buffers
A clear understanding of the relationship between these concepts is
necessary to obtain the best results for the Trajexia system.
2.1.1
Glossary
Motion sequence
The Motion Sequence is responsible for controlling the position of the axes.
Servo period
Defines the frequency at which the Motion Sequence is executed. The servo
period must be set according to the configuration of the physical axes. The
available settings are 0.5ms, 1ms or 2ms.
Cycle time
Is the time needed to execute one complete cycle of operations in the TJ1-
MC__. The cycle time is divided in 4 time slices of equal time length, called
"CPU Tasks". The cycle time is 1ms if SERVO_PERIOD=0.5ms or
SERVO_PERIOD=1ms and 2ms if the SERVO_PERIOD=2ms.
CPU tasks
The operations executed in each CPU task are:
CPU task
Operation
First CPU task
Motion Sequence
Low priority process
HARDWARE REFERENCE MANUAL
AXIS CONTROL LOOP
TJ1-MC__
Buffer &
Buffer &
Position
Position
Program Buffer
profile
profile
Loop
Loop
gererator
gererator
TJ1 ML__
BASIC PROGRAMS
Process 1
Process 2
Process 3
...
Process 14
Comms
TJ1 FL02
MC I/O
Ethernet
-
TJ1 PRT
FINS
Ethernet
Profibus
Via
BUILT-IN
TJ1-ML16
fig. 1
AXIS TYPE
AXIS TYPE
AXIS TYPE
-
Servo Driver
Position
Position
Loop
Loop
Speed Loop
Speed Loop
Torque
Torque
Loop
Loop
-
Servo Driver
Speed Loop
Torque
Loop
ENC
All other
Servo
Drivers
MOTOR
ENC
MOTOR
7
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