Motion Sequence And Axes - Omron trajexia CJ1W-MCH72 Operation Manual

Motion sequence and axes

1-7-4 Multi-tasking example
1-8 Motion sequence and axes
1 1ms
13
3 14
COMS.
1ms
2
3 14
COMS.
3
1ms
3 2 1 0
COMS.
In the example 1, there are two high-priority processes, 13 and 14. The two HT
periods are reserved for these processes, one for processes 13 and one for
processes 14. The low-priority processes 3, 2, 1 and 0 are executed in the LT
period, one process per Cycle time here set to 1.0ms.
In the middle example, there is only one high-priority process, 14. Both HT
periods are reserved for this process. The low-priority processes, 3, 2, 1 and 0
are executed in the LT period, one process per cycle time.
In the lower example, there are no high-priority processes. Therefore, the HT
periods can be used for the low-priority processes. The LT period is also used
for the low-priority processes.
•
•
AXIS PARAMETER
+ +
Profile generator Profile generator
Demanded Demanded
position position
Measured Measured
position position
Motion sequence is the part of the CJ1W-MCH72 that controls the axes. The
actual way that the motion sequence operates depends on the axis type. The
axis type can be set and read by the parameter ATYPE. At start-up the
Trajexia system automatically detects the configuration of the axes.
• The default value for the parameter ATYPE for MECHATROLINK-II axes is
40 (MECHATROLINK-II position).
• The default value for the parameter ATYPE for the Encoder Interface is 44
(incremental encoder).
1ms
13
2 14 1
COMS.
1ms
2 14 1
COMS.
1ms
3 2 1
(c/l) COMS.
Servo Drive
OFF
Position loop Position loop
ON
- -
Following Following
Speed Speed
error error
command command
Section 1-8
1ms
1ms
13
14 0 14
COMS. (c/l)
1ms 1ms
14 0 14
COMS. (c/l)
1ms 1ms
0 3 2 1
(c/l) COMS.
Speed loop Torque
loop
13
COMS.
COMS.
0
(c/l) COMS.
block
M
E
23