Profile Generator; Position Loop; Axis Sequence; Type Of Axis - Omron TJ1-DRT Hardware Reference Manual
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- Programming manual (362 pages) ,
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- Hardware reference manual (166 pages)
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System philosophy
2.7.1
Profile generator
The profile generator is the algorithm that calculates the demanded
position for each axis. The calculation is made every motion
sequence.
The profile is generated according to the motion instructions from
the BASIC programs.
2.7.2
Position loop
The position loop is the algorithm that makes sure that there is a
minimal deviation between the measured position (MPOS) and the
demand position (DPOS) of the same axis.
2.7.3
Axis sequence
•
If SERVO=OFF for one axis, the motion commands for that axis
are ignored.
•
If the Following Error (FE) in one axis exceeds the parameter
value FELIMIT then, the next action occurs:
-
WDOG is set to OFF and all axes stop.
-
SERVO for the axis that causes the error goes to OFF.
-
The current move is Cancelled and removed from the
buffer.
2.7.4
Type of axis
/i
ATYPE Applicable to
Name
0
All axes
Virtual axis
HARDWARE REFERENCE MANUAL
Description
Internal axis with no physical output. It is the
only valid setting for non-allocated axes. That
is, those that are not MECHATROLINK-II ser-
vos or a flexible axis.
fig. 30
Profile generator
Basic Program
.........
.........
MOVE(1000)
.........
.........
Demand Position
41
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