System philosophy
HARDWARE REFERENCE MANUAL
40
Revi
si
on 3.0
2.7
Motion sequence and axes
fig. 29
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.
•
block
•
Profile generator
Profile generator
+
-
Position loop
Following
error
Speed
command
+
-
Position loop
Demanded
position
Measured
position
Following
error
Speed
command
Speed loop
ON
OFF
Torque
loop
M
E
AXIS PARAMETER
Servo Drive
Note
Each of these items will be performed for each axis in turn
before moving on to the next item.
I51E-EN-03.book Seite 40 Donnerstag, 28. Juni 2007 1:05 13
