Motion Sequence And Axes - Omron TJ1-DRT Hardware Reference Manual

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System philosophy
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 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:
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.
HARDWARE REFERENCE MANUAL
fig. 29
AXIS PARAMETER
Position loop
Position loop
+
+
Profile generator
Profile generator
-
-
Following
Following
Demanded
error
error
position
Measured
position
Servo Drive
OFF
Speed loop
Torque
loop
ON
Speed
Speed
command
command
block
M
E
40

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