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Trajexia system architecture
Section 1-5
16
1-5
Trajexia system architecture
The system architecture of the Trajexia is dependant upon these
concepts:
• Program control
• Motion Sequence
• Motion buffers
• Communication
• Peripherals
These concepts depend upon the value set in the
SERVO_PERIOD
parameter. The relationship between the value of
SERVO_PERIOD
and the
different concepts of the system architecture are describes as follows.
1-5-1
Program control
Programs make the system work in a defined way. The programs are written in
a language similar to BASIC and control the application of the axes and
modules. 14 Programs can be executed in parallel. The programs can be set
to run at system power-up, started and stopped from other programs and
executed from Trajexia Studio.
Programs execute commands to move the axes, control inputs and outputs
and make communication via BASIC commands.
1-5-2
Motion sequence
The motion sequence controls the position of all 32 axes with the actions as
follows:
• Reading the Motion buffer
• Reading the current Measured Position (MPOS)
• Calculating the next Demanded Position (DPOS)
• Executing the Position loop
• Sending the Axis reference
• Error handling
1-5-3
Motion buffers
Motion buffers are the link between the BASIC commands and the Axis control
loop. When a BASIC motion command is executed, the command is stored in
one of the buffers. During the next motion sequence, the profile generator
executes the movement according to the information in the buffer.
When the movement is finished, the motion command is removed from the
buffer.
1-5-4
Communication
The CJ1W-MCH72 can exchange data with memory areas in the PLC. This
enables the CJ1W-MCH72 to use the inputs and outputs connected to the
PLC. Also, programs in the CJ1W-MCH72 and PLC programs can exchange
control and status data.
For more information on communication and data exchange, refer to chapter
3.
1-5-5
Peripherals
All inputs and outputs are used with the set of parameters (
IN
,
OP
,
AIN
,
AOUT
). The inputs and outputs are automatically detected and mapped in
Trajexia. Inverters are considered a peripheral device and have a set of
BASIC commands to control them.
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