Omron SYSMAC CJ Series, Руководство по эксплуатации

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Motion sequence and axes Section 1-8
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1-7-4 Multi-tasking example
In the example 1, there are two high-priority processes, 13 and 14. The two HT
periods are reserved for these processes, one for processes 13 and one for
processes 14. The low-priority processes 3, 2, 1 and 0 are executed in the LT
period, one process per Cycle time here set to 1.0ms.
In the middle example, there is only one high-priority process, 14. Both HT
periods are reserved for this process. The low-priority processes, 3, 2, 1 and 0
are executed in the LT period, one process per cycle time.
In the lower example, there are no high-priority processes. Therefore, the HT
periods can be used for the low-priority processes. The LT period is also used
for the low-priority processes.
1-8 Motion sequence and axes
Motion sequence is the part of the CJ1W-MCH72 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
40 (MECHATROLINK-II position).
• The default value for the parameter ATYPE for the Encoder Interface is 44
(incremental encoder).
2
3
14 13 14 13
14 3
COMS.
1ms
14 2
COMS. COMS.
1ms
14 1
1ms
14 0
(c/l)
1ms
COMS.
3 2 1
COMS.
1ms
0
(c/l)
3 2
COMS. COMS.
1ms
1 0
(c/l)
3
COMS.
1ms
2 1 0
(c/l)
1ms
1
3
COMS.
1ms
2
COMS. COMS.
1ms
1
1ms
0
(c/l)
1ms
COMS.
14 13 14 13
• block
•
Profile generator Profile generator
+
-
Position loop
Demanded
position
Measured
position
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