Program Control And Multi-Tasking - Omron TJ1-DRT Hardware Reference Manual

System philosophy
Example 4
• 1x TJ1-MC16
• 1x TJ1-ML16
• 2x TJ1-FL02
• 1x TJ1-PRT (does not influence in the SERVO_PERIOD)
• 5x Sigma-II Servo Driver
• SERVO_PERIOD = 1.0ms
TJ1-MC16 supports 1.0ms SERVO_PERIOD with 9 axes (5
MECHATROLINK-II servo axes and 4 TJ1-FL02 axes)
TJ1-ML16 supports 1.0ms SERVO_PERIOD with 5 devices
TJ1-FL02 supports 0.5ms SERVO_PERIOD (2 axes each module)
Sigma-II supports 1.0ms SERVO_PERIOD.
2.6

Program control and multi-tasking

The Trajexia system has program, processes and multi tasking
control.
2.6.1 Program control
The Trajexia system can control 14 processes that are written as
BASIC programs. When the program is set to run, the program is
executed.
Processes 1 to 12 are low priority, 13 and 14 are high priority.
HARDWARE REFERENCE MANUAL
fig. 25
Axis 7 Axis 8
Address Address Address Address
43 44 45
Axis 2 Axis 3 Axis 4 Axis 5
Axis 0 Axis 1
Address
46 47
Axis 6
37