Omron SYSMAC CJ Series, Руководство по эксплуатации

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Motion buffers Section 1-9
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1-9 Motion buffers
The motion buffer is a temporary store of the motion instruction from the
BASIC program to the profile generator.
The BASIC program continues while the instruction waits in the buffer.
There are three types of buffer:
•
MTYPE . The current movement that is being executed. MTYPE relates to
the axis and not to the process.
• NTYPE . The new movement that waits for execution. NTYPE relates to the
axis and not to the process.
• Process Buffer. The third buffered movement cannot be monitored. The
process buffer relates to the process and not to the axis.
It is possible to check if the process buffer is full by checking the PMOVE
process parameter.
When a motion instruction is executed in the BASIC program, the instruction is
loaded into the process buffer and distributed to the corresponding axis buffer
in the next motion sequence.
If a fourth motion instruction is executed and the three buffers are full, the
BASIC program stops execution until a process buffer is free for use.
DEMAND
POSITION
.......
BASIC PROGRAM
.......
MOVE(-500)
.......
MOVE(1000)
.......
CONNECT(1,1) BASIC PROGRAM
.......
MOVE(-500)
.......
MOVE(1000)
.......
CONNECT(1,1)
CONNECT(1,1) AXIS(2)
PROCESS BUFFER
NTYPE
MTYPE
Waiting to be executed
MOTION COMMAND
Currently executed
MOTION COMMAND
AXIS BUFFER
(one per axis)
Profile generator
Process 1
Process Buffer
Axis 0
NTYPE
MTYPE
WAITING EXECUTING
Each process has its own
“Process Buffer”
Process Buffer
Process 2
Process 3
Process Buffer
Process Buffer
Process 4
Process 5
Process Buffer
Process Buffer
Process 6
Process 7
Process Buffer
Process 14
Program Buffer
Axis 1
NTYPE
MTYPE
Axis 2
NTYPE
MTYPE
Axis 3
NTYPE MTYPE
NTYPE MTYPE
Axis 15
Each Axis has its own
2 buffers:
NTYPE & MTYPE