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Cycle time
Section 1-6
19
1-6-1-4 Servo period 4 ms
The
SERVO_PERIOD
has a value of 4ms and the motion sequence is
executed every 4.0ms.
1-6-1-5 Servo period rules
The number of axes and MECHATROLINK-II slaves in the Trajexia system
determines the value of the
SERVO_PERIOD
system parameter.
There are 2 types of MECHATROLINK-II slaves that are supported by the
CJ1W-MCH72 units:
• Servo Drivers
The CJ1W-MCH72 considers Servo Drivers as axes.
• Inverters
The CJ1W-MCH72 does not consider Inverters as axes.
You should comply with the most restrictive rules when you set the
SERVO_PERIOD
parameter. An incorrect value of the
SERVO_PERIOD
parameter results in an incorrect detection of the MECHATROLINK-II slaves.
The most restrictive rules are given in the tables below. For each unit the table
lists the maximum number of slaves the unit can control at the given
SERVO_PERIOD
setting.
/i
CPU task 1
Motion sequence
Low priority task (0,1,2,3...)
CPU task 2
High priority task (13,14)
CPU task 3
LED refresh
High priority task (13,14)
CPU task 4
Communication
4ms
SERVO_PERIOD
Total number
of axes
Number of
MECHATROLINK-II
stations
Total number of
MECHATROLINK-II
stations
axes
inverters
0.5 ms
8
4
4
4
1.0 ms
16
8
8
8
2.0 ms
16
16
8
16
4.0 ms
32
30
8
30
Содержание trajexia CJ1W-MCH72
Страница 69: ...Specifications Section 2 4 58...
Страница 83: ...FINS commands Section 3 4 72...
Страница 147: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Страница 277: ...All BASIC commands Section 4 2 266...
Страница 278: ...267 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
Страница 371: ...360 Index...
Страница 373: ...362...