Omron TJ2-MC02 Hardware Reference Manual page 58

System philosophy
Example of buffered instructions:
HARDWARE REFERENCE MANUAL
EXAMPLE:
BASIC PROGRAM
.......
MOVE(-500) BUFFER
.......
MOVE(1000)
.......
DATUM(3)
---------------------------------
.......
NTYPE IDLE
MOVE(200)
---------------------------------
MOVE -500
.......
MTYPE MOVE(-500)
- - - -
BASIC PROGRAM
.......
MOVE(-500) BUFFER
.......
MOVE(1000)
.......
- - - -
DATUM(3)
---------------------------------
.......
NTYPE MOVE(1000)
MOVE(200)
---------------------------------
MOVE -500
.......
MTY PE MOVE(-500)
BASIC PROGRAM
.......
MOVE(-500) BUFFER
.......
MOVE(1000)
.......
DATUM(3)
DATUM(3)
---------------------------------
.......
NTYPE MOVE(1000)
MOVE(200)
---------------------------------
MOVE -500
.......
MTYPE MOVE(-500)
BASIC PROGRAM BASIC PROGRAM
....... .......
MOVE(-500) MOVE(-500) BUFFER BUFFER
....... .......
MOVE(1000) MOVE(1000)
....... .......
MOVE(200) MOVE(200)
DATUM(3) DATUM(3)
--------------------------------- ---------------------------------
....... .......
NTYPE DATUM(3) NTYPE DATUM(3)
MOVE(200) MOVE(200)
--------------------------------- ---------------------------------
MOVE -500 MOVE -500
....... .......
MTYPE MOVE(1000) MTYPE MOVE(1000)
BASIC PROGRAM BASIC PROGRAM
....... .......
MOVE(-500) MOVE(-500) BUFFER BUFFER
....... .......
MOVE(1000) MOVE(1000)
....... .......
- - - - - - - - - - - -
DATUM(3) DATUM(3)
--------------------------------- ---------------------------------
....... .......
NTYPE MOVE(200) NTYPE MOVE(200)
MOVE(200) MOVE(200)
--------------------------------- ---------------------------------
MOVE -500 MOVE -500
....... .......
MTYPE DATUM(3) MTYPE DATUM(3)
BASIC PROGRAM BASIC PROGRAM
....... .......
MOVE(-500) MOVE(-500) BUFFER BUFFER
....... .......
MOVE(1000) MOVE(1000)
....... .......
- - - - - - - - - - - -
DAT UM(3) DAT UM(3)
--------------------------------- ---------------------------------
....... .......
NT YPE IDLE NT YPE IDLE
MOVE(200) MOVE(200)
--------------------------------- ---------------------------------
MOVE -500 MOVE -500
....... .......
MT YPE MOVE(200) MT YPE MOVE(200)
fig. 45
1. All buffers are empty and a
movement is loaded. The movement
starts to execute.
2. A second movement is loaded while
the first one is not finished. The
new movement waits in the second
buffer.
3. A third movement can still be stored
in the process buffer. If the basic
program reaches 'MOVE(200)' it will
wait.
4. The first movement has finished.
The buffer moves by one position.
The next movement starts to
MOVE 1000 MOVE 1000
execute.
DATUM (3) DATUM (3)
5. As the sent movements are finished,
the buffer empties.
MOVE 1000 MOVE 1000
6. If no new movements are executed,
DAT UM (3) MOVE 200 DAT UM (3) MOVE 200
finally, the buffer will become empty
and the profile generator becomes
MOVE 1000 MOVE 1000
inactive.
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