System Philosophy - Omron trajexia CJ1W-MCH72 Operation Manual

System philosophy

1-2 System philosophy
1-2-1 Glossary
1-2-1-1 Motion sequence
1-2-1-2 Servo period
1-2-1-3 Cycle time
2
CJ1W-MCH72
Buffer &
Buffer &
Program Buffer profile
profile
gererator gererator
BASIC PROGRAMS
Process 1
Process 2
Process 3
...
Process 14
Comms
I/O
BUILT-IN TJ1-PLC interface
The system philosophy is centred around the relationship between:
• System architecture
• Cycle time
• Program control and multi-tasking
• Motion sequence and axes
• Motion buffers
A clear understanding of the relationship between these concepts is
necessary to obtain the best results for the Trajexia system.
The Motion Sequence is responsible for controlling the position of the axes.
Defines the frequency at which the Motion Sequence is executed. The servo
period must be set according to the configuration of the physical axes. The
available settings are 0.5 ms, 1 ms, 2 ms or 4 ms.
Is the time needed to execute one complete cycle of operations in the CJ1W-
MCH72. The cycle time is divided in 4 time slices of equal time length, called
"CPU Tasks". The cycle time is 1ms if SERVO_PERIOD = 0.5 ms or
SERVO_PERIOD = 1 ms, 2 ms if the SERVO_PERIOD = 2 ms and 4 ms if the
SERVO_PERIOD = 4 ms
AXIS CONTROL LOOP
AXIS TYPE AXIS TYPE AXIS TYPE
Position
Position
Loop
Loop
ML
ENC
Section 1-2
ENC
Servo Driver
Position
Position
Loop
Loop
MOTOR
Speed Loop Speed Loop
Torque
Torque
Loop
Loop
All other
Servo
Drivers