Motion Sequence And Axes; Mechatrolink - Omron TJ2-MC64 Hardware Reference Manual

System philosophy
2.7

Motion sequence and axes

Motion sequence is the part of the TJ2-MC64 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 TJ1-FL02 axes is 44
(Servo axis with an incremental encoder).
All non allocated axes are set as a virtual axis. The value for the parameter
ATYPE is 0.
Every axis has the general structure as shown in fig. 25.
The motion sequence which will be executed at the beginning of each servo
period will contain the following elements:
1. Transfer any moves from BASIC process buffers to motion buffers (see
section 2.8).
2. Read digital inputs.
3. Load moves. (See note.)
4. Calculate speed profile. (See note.)
5. Calculate axis positions. (See note.)
6. Execute position servo. For axis 0 this also includes the Servo Drive
communications. (See note.)
7. Update outputs.
Note
Each of these items will be performed for each axis in turn before
moving on to the next item.
HARDWARE REFERENCE MANUAL
•
•
AXIS PARAMETER
Position loop Position loop
+ +
Profile generator Profile generator
- -
Following Following
Demanded Demanded
error error
position position
Measured Measured
position position
fig. 25
Servo Drive
OFF
Speed loop Torque
loop
ON
Speed Speed
command command
block
M
E
33