Command Line Interface; Basic Programs - Omron R88A-MCW151-DRT-E Operation Manual

Command Line Interface

Sequencing
Move Loading
5-4

Command Line Interface

5-5

BASIC Programs

90
Note If the task buffers are full, the program execution is paused until buffers are
available again. This also applies to the command line task and no com-
mands can be given for that period. Motion Perfect will disconnect in such a
case. The PMOVE task parameter will be set to TRUE when the task buffers
are full and will be reset to FALSE when the task buffers are available again.
Task buffers
Task 1
MOVECIRC(..) AXIS(0)
FORWARD AXIS(1)
Task 2
Task 3
MOVE(..) AXIS(0)
Move buffers
Axis
Next Move (NTYPE)
Actual Move (MTYPE)
On each servo cycle interrupt (see 5-5-3 Program Execution), the motion gen-
erator examines the NTYPE buffers to see if any of them are available. If
there are any available then it checks the task buffers to see if there is a move
waiting to be loaded. If a move can be loaded, then the data for all the speci-
fied axes is loaded from the task buffers into the NTYPE buffers and the cor-
responding task buffers are marked as idle. This process is called
sequencing.
Once sequencing has been completed, the MTYPE buffers are checked to
see if any moves can be loaded. If the required MTYPE buffers are available,
then the move is loaded from the NTYPE buffers to the MTYPE buffers and
the NTYPE buffers are marked as idle. This process is called move loading.
If there is a valid move in the MTYPE buffers, then it is processed. When the
move has been completed, the MTYPE buffers are marked as idle.
The Command Line Interface provides a direct interface for the user to exe-
cute commands and access parameters on the system. There are two options
to use the command line interface:
• Use the Terminal Window within Motion Perfect and the MC Unit con-
nected. See SECTION 7 Motion Perfect Software Package for details.
• Use a VT100 Terminal to connect to the MC Unit. This is similar to using
the Terminal Window within Motion Perfect when the MC Unit is discon-
nected.
The MC Unit puts the last 10 commands given on the command line in a
buffer. Pressing the Up and Down Cursor Key will cycle through the buffer to
execute the command again.
The MC Unit can store up to 14 programs in memory, provided the capacity of
memory is not exceeded. The MC Unit supports simple file-handling instruc-
tions for managing these program files rather like the DOS filing system on a
computer.
Motion
Generator
0 1
MOVE (1) FORWARD (10)
MOVECIRC (4) MOVECIRC (4)
Section 5-4
Sequencing
2
Move
IDLE (0)
Loading
IDLE (0)