Motion Sequence And Axes; Mechatrolink; Hardware Reference Manual - Omron GRT1-ML2 Hardware Reference Manual

System philosophy
2.6.4 Multi-tasking example
In the example 1, there are two high-priority processes, 13 and 14. The two
HT periods are reserved for these processes, one for processes 13 and one
for processes 14. The low-priority processes 3, 2, 1 and 0 are executed in
the LT period, one process per Cycle time here set to 1.0ms.
In the middle example, there is only one high-priority process, 14. Both HT
periods are reserved for this process. The low-priority processes, 3, 2, 1 and
0 are executed in the LT period, one process per cycle time.
In the lower example, there are no high-priority processes. Therefore, the
HT periods can be used for the low-priority processes. The LT period is also
used for the low-priority processes.
2.7

Motion sequence and axes

Motion sequence is the part of the TJ1-MC__ 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 41 (MECHATROLINK-II speed).
• 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. 29.
The motion sequence which will be executed at the beginning of each servo
period will contain the following elements:

HARDWARE REFERENCE MANUAL

1 1ms 1ms
3 14 13 2 14 13
COMS.
2 1ms 1ms
3 14 2 14
COMS.
3 1ms 1ms
3 2 1 0 3
COMS. (c/l)
•
•
AXIS PARAMETER
Position loop Position loop
+ +
Profile generator Profile generator
- -
Following Following
Demanded Demanded
error error
position position
Measured Measured
position position
fig. 28
1ms
1 14 13 0
COMS. COMS. (c/l)
1ms
1 14 0
COMS. COMS. (c/l)
1ms
2 1 0 3 2
COMS. (c/l) COMS.
fig. 29
Servo Drive
OFF
Speed loop Torque
loop
ON
Speed Speed
command command
1ms
14 13
COMS.
1ms
14
COMS.
1ms
1 0
(c/l) COMS.
block
M
E
30