Omron trajexia CJ1W-MCH72 Operation Manual page 43

Motion buffers
32
EXAMPLE:
BASIC PROGRAM
.......
MOVE(-500)
BUFFER
.......
MOVE(1000)
.......
DATUM(3)
---------------------------------
.......
NTYPE IDLE
MOVE(200)
---------------------------------
.......
MTYPE MOVE(-500)
- - - -
BASIC PROGRAM
.......
MOVE(-500) BUFFER
.......
MOVE(1000)
.......
- - - -
DATUM(3)
---------------------------------
.......
NTYPE MOVE(1000)
MOVE(200)
---------------------------------
.......
MTY PE MOVE(-500)
BASIC PROGRAM
.......
MOVE(-500)
BUFFER
.......
MOVE(1000)
.......
DATUM(3)
DATUM(3)
---------------------------------
.......
NTYPE MOVE(1000)
MOVE(200)
---------------------------------
.......
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)
--------------------------------- ---------------------------------
....... .......
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)
--------------------------------- ---------------------------------
....... .......
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)
--------------------------------- ---------------------------------
....... .......
MT YPE MOVE(200) MT YPE MOVE(200)
Example of buffered instructions:
MOVE -500
MOVE -500
MOVE -500
MOVE -500 MOVE -500
MOVE 1000 MOVE 1000
DATUM (3) DATUM (3)
MOVE -500 MOVE -500
MOVE 1000 MOVE 1000
DAT UM (3) MOVE 200 DAT UM (3) MOVE 200
MOVE -500 MOVE -500
MOVE 1000 MOVE 1000
Section 1-9
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
execute.
5.- As the sent
movements are finished,
the buffer empties.
6.- If no new movements
are executed, finally, the
buffer will become empty
and the profile generator
becomes inactive.