Omron TJ1/GRT1 Hardware Reference Manual page 36

System philosophy
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 Driver
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.
2.7.1 Profile generator
The profile generator is the algorithm that calculates the demanded position
for each axis. The calculation is made every motion sequence.
The profile is generated according to the motion instructions from the BASIC
programs.
2.7.2 Position loop
The position loop is the algorithm that makes sure that there is a minimal
deviation between the measured position (MPOS) and the demand position
(DPOS) of the same axis.
2.7.3 Axis sequence
• The motion controller applies motion commands to an axis array that is
defined with the BASE command. If the motion command concerns one
axis, it is applied to the first axis in the BASE array. If the motion
command concerns more than one axis, and makes an orthogonal
HARDWARE REFERENCE MANUAL
fig. 30
Profile generator
Basic Program
.........
.........
MOVE(1000)
.........
.........
Demand Position
31