Trajexia System Architecture - Omron TJ2-MC64 Hardware Reference Manual

System philosophy
2.4

Trajexia system architecture

The system architecture of the Trajexia is dependant upon these
concepts:
• Program control
• Motion Sequence
• Motion buffers
• Communication
• Peripherals
These concepts depend upon the value set in the SERVO_PERIOD
parameter. The relationship between the value of SERVO_PERIOD and the
different concepts of the system architecture are describes as follows.
2.4.1 Program control
Programs make the system work in a defined way. The programs are written
in a language similar to BASIC and control the application of the axes and
modules. 22 Programs can be executed in parallel. The programs can be set
to run at system power-up, started and stopped from other programs and
executed from Trajexia Studio / CX-Motion Pro.
Programs execute commands to move the axes, control inputs and outputs
and make communication via BASIC commands.
2.4.2 Motion sequence
The motion sequence controls the position of all 64 axes with the actions as
follows:
• Reading the Motion buffer
• Reading the current Measured Position (MPOS)
• Calculating the next Demanded Position (DPOS)
• Executing the Position loop if it is done in the CPU
• Sending the Axis reference
• Error handling
HARDWARE REFERENCE MANUAL 23