Trajexia system
PROGRAMMING MANUAL 15
Revision 1.0
2.4.2 Sequencing
On each servo cycle interrupt (see section 2.6.2), 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.
2.5 Command line interface
The command line interface provides a direct interface for the user to
execute commands and access parameters on the system.
Use the Terminal Window in Trajexia Studio when the TJ2-MC64 is
connected.
The TJ2-MC64 puts the last 10 commands given on the command line in a
buffer. Pressing the Up and Down Cursor Key will cycle through the buffer to
execute the command again.
2.6 BASIC programs
The TJ2-MC64 can store up to 32 programs in memory, provided the
capacity of memory is not exceeded. The TJ2-MC64 supports simple file-
handling instructions for managing these program files rather like the DOS
filing system on a computer.
The Trajexia Studio software package is used to store and load programs to
and from a computer for archiving, printing and editing. It also has several
controller monitor and debugging facilities.
2.6.1 Managing programs
The Trajexia Studio software package is used to store and load programs to
and from a computer for archiving, printing and editing. It also has several
controller monitor and debugging facilities. For more information please refer
to the Trajexia Studio user manual.
Storing programs
Programs in the TJ2-MC64 are stored automatically in Flash-ROM memory
and therefore do not rely on the battery.
2.6.2 Program execution
The timing of the execution for the different tasks and the refreshing of the I/
O of the TJ2-MC64 revolves around the servo cycle period of the system.
The servo cycle period is determined by the SERVO_PERIOD system
parameter. The TJ2-MC64 will either have a servo cycle period of 0.25, 0.5,
1.0 or 2.0 ms.
I/O refresh
The I/O status of the TJ2-MC64 is refreshed at the beginning of every cycle
time.
• The captured status of the digital inputs is transferred to the IN system
input variable. Note that this is the status captured in the previous servo
cycle.
• The analogue outputs for the speed references are updated.
• The digital outputs are updated conform the status of the OP system
output variable.
• The status of the digital inputs is captured.
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