Motion Control Concepts - Omron TJ2-MC02 Hardware Reference Manual

System philosophy
CPU slots
The operations executed in each CPU slot are:
CPU slot Operation
First CPU slot BASIC and/or PLC execution
Motion Network update (if SERVO_PERIOD=0.25ms)
Second CPU slot BASIC and/or PLC execution
Motion Network update (if SERVO_PERIOD=0.25ms or 0.5ms)
Third CPU slot Internal houskeeping
Motion Network update (if SERVO_PERIOD=0.25ms)
Fourth CPU slot BASIC and/or PLC execution
Motion Network update (all SERVO_PERIODs)
Program
A program is a piece of BASIC code.
Process
Is a program in execution with a certain priority assigned. Low Priority
BASIC programs get assigned to process 0 to 19 and High Priority BASIC
programs get assigned to Process 20 and 21. First the process priority, High
or Low, and then the process number, from high to low, will define to which
CPU slot the process will be assigned. Process 22 to 24 are for internal
housekeeping.
Each PLC task will get assigned to process 27 to 42. Process 25 and 26 are
for internal housekeeping of the PLC engine.
2.2

Motion control concepts

The TJ2-MC__ offers these types of positioning control operations:
1. Point-to-Point (PTP) control
2. Continuous Path (CP) control
3. Electronic Gearing (EG) control.
This section introduces some of the commands and parameters used in the
BASIC programming of the motion control application.
HARDWARE REFERENCE MANUAL 9