LSIS XGT Series - Execution of Motion Commands

Chapter 4 Motion Control Operation
4-7
4.3.3 Execution of Motion Commands
1. Execution of motion commands in the main task
Execution of motion instruction of the main task is shown in the figure below. The input value of the slave and the
system parameters are updated by the I/O refresh motion of the main task, and based on this information, the
program is processed and motion control motion is performed. The outcome of the performance is output in slave
module at the I/O refresh time of the next control period.
I/O
refresh
Program
Motion
control
I/O
refresh
Program
Motion
control
Control period Control period
Perform
main task
Slave Slave
Update input
status
Processing
program
Update output
status
2. Execution of motion commands in the periodic task
Execution of motion instruction in the periodic task is shown in the figure below. According to the I/O refresh
motion of the main task, the input value of slave and the system parameters are updated and motion control is
performed in the main task based on this information. The program of the periodic task is performed by this result,
and motion control is performed with this result while the main task is being performed in the control period after
the performance of the periodic task. Also the outcome of this motion control performance is output in slave at the
I/O refresh time of the next control period
I/O
refresh
Program
Motion
control
I/O
refresh
Program
Motion
control
Main task period
Perform
main task
Slave
Update input
status
Processing
related
program
Main task period Main task period
Progra
m
Prog
ram
I/O
refresh
Program
Motion
control
Main task period
I/O
refresh
Program
Motion
control
Slave
Periodic task period
Perform
periodic task