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Motion sequence and axes
Section 1-8
23
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
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...