Motion Execution; Motion Generator - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

Trajexia system
2.4

Motion execution

Every task on the TJ1-MC__ has a set of buffers that holds the
information from the motion commands given.
2.4.1

Motion generator

The motion generator has a set of two motion buffers for each axis.
One buffer called MTYPE, holds the Actual Move, which is the
move currently executing on the axis. The other buffer called
NTYPE, holds the Next Move, which is executed after the Actual
Move has finished.
See chapter 2.8 "Motion Buffers" in the Trajexia Hardware
Reference manual for detailed explanation.
The BASIC programs are separate from the motion generator
program, which controls moves for the axes. The motion generator
has separate functions for each axis, so each axis is capable of
being programmed with its own axis parameters (for example
speed, acceleration) and moving independently and simultaneously
or they can be linked together using special commands.
When a move command is being processed, the motion generator
waits until the move is finished and the buffer for the required axis
has become empty, and then loads these buffers with the next
move information.
PROGRAMMING MANUAL 28