Trajexia system
PROGRAMMING MANUAL 29
Revision 3.0
fig. 2
2.4.2 Sequencing
On each servo cycle interrupt (see section 2.6.3), the motion
generator examines the NTYPE buffers to see if any of them are
available. If there are any available then it checks the task buffers
to see if there is a move waiting to be loaded. If a move can be
loaded, then the data for all the specified axes is loaded from the
task buffers into the NTYPE buffers and the corresponding task
buffers are marked as idle. This process is called sequencing.
2.4.3 Move loading
Once sequencing has been completed, the MTYPE buffers are
checked to see if any moves can be loaded. If the required MTYPE
buffers are available, then the move is loaded from the NTYPE
buffers to the MTYPE buffers and the NTYPE buffers are marked
as idle. This process is called move loading. If there is a valid move
in the MTYPE buffers, then it is processed. When the move has
been completed, the MTYPE buffers are marked as idle.
Move
Loading
Sequencing
Axis
Task 1
MOVECIRC(..) AXIS(0)
FORWARD AXIS(1)
MOVE(..) AXIS(0)
Task 2
Motion
Generator
Task 3
Next Move (NTYPE)
Move buffers
Task buffers
Next Move (NTYPE)
MOVE (1)
MOVECIRC (4)
FORWARD (10)
MOVECIRC (4)
IDLE (0)
IDLE (0)
012
If the task buffers are full, the program execution is
paused until buffers are available again. This also applies
to the command line task and no commands can be
given for that period. Trajexia Tools will disconnect in
such a case. The PMOVE task parameter will be set to
TRUE when the task buffers are full and will be reset to
FALSE when the task buffers are available again.
I52E-EN-03.book Seite 29 Freitag, 29. Juni 2007 11:55 11
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