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TJ1-MC04 - PROGRAMMING 1
Omron TJ1-MC04 - PROGRAMMING 1 User Manual
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PROGRAMMING MANUAL
185
Revision 3.0
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I52E-EN-03.book Seite 185 Freitag, 29. Juni 2007 1
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186
Table of Contents
Default Chapter
3
Sibp-C730600
3
Table of Contents
5
1 Safety Warnings and Precautions
16
Intended Audience
16
General Precautions
16
Safety Precautions
16
Operating Environment Precautions
17
Application Precautions
18
Unit Assembly Precautions
21
2 Trajexia System
22
Introduction
22
Trajexia Hardware
23
This Manual
23
Multitasking BASIC Programming
23
BASIC Programming
24
Axis, System and Task Statements
24
Memory Areas
24
Data Structures and Variables
25
Mathematical Specifications
27
Motion Execution
28
Motion Generator
28
Sequencing
29
Move Loading
29
Command Line Interface
30
BASIC Programs
30
Managing Programs
30
Program Compilation
31
Program Execution
31
3 BASIC Commands
33
Categories
33
Axis Commands
33
Axis Parameters
34
Communication Commands and Parameters
36
Constants
36
I/O Commands, Functions and Parameters
36
Mathematical Functions and Operands
37
Program Commands
37
Program Control Commands
38
Slot Parameters and Modifiers
38
System Commands and Functions
38
System Parameters
39
Task Commands and Parameters
40
All BASIC Commands
41
Addition)
41
(Subtraction)
41
Multiplication)
41
(Division)
41
Power)
42
(Is Equal To)
42
(Assignment)
42
(Is Not Equal To)
42
(Is Greater Than)
43
(Is Greater than or Equal To)
43
(Is Less Than)
43
(Is Less than or Equal To)
43
(Hexadecimal Input)
44
(Comment Field)
44
(Statement Separator)
44
Abs
45
Acc
45
Accel
45
Acos
45
Add_Dac
46
Addax
46
Addax_Axis
47
Ain
47
And
47
Aout
48
Asin
48
Atan
48
Atan2
48
Atype
49
Autorun
49
Axis
49
Axis_Display
50
Axis_Enable
50
Axisstatus
50
B_Spline
51
Base
51
Basicerror
52
Battery_Low
53
Break_Reset
53
Cam
53
Cancel
56
Checksum
56
Chr
56
Clear
57
Clear_Bit
57
Clear_Params
57
Close_Win
57
Clutch_Rate
57
Commserror
58
Compile
58
Connect
59
Control
59
Copy
60
Cos
60
Creep = 10
60
D_Gain
60
D_Zone_Max
61
D_Zone_Min
61
Dac_Out
61
Dac_Scale
61
Date
62
Datum
62
Datum_In
63
Day
64
Decel
64
Del
65
Demand_Edges
65
Devicenet
66
Dir
67
Disable_Group
67
Display
67
Dpos
68
Drive_Alarm
68
Drive_Clear
69
Drive_Control
69
Drive_Inputs
70
Drive_Monitor
70
Drive_Read
71
Drive_Reset
71
Drive_Status
72
Drive_Write
73
Edit
73
Else
73
Elseif
73
Encoder
74
Encoder_Bits
74
Encoder_Control
74
Encoder_Id
75
Encoder_Ratio
75
Encoder_Read
75
Encoder_Status
76
Encoder_Turns
76
Encoder_Write
76
Endif
76
Endmove
77
Eprom
77
Error_Axis
77
Error_Line
77
Errormask
78
Ethernet
78
Exp
79
False
79
Fast_Jog
79
Fastdec
80
Fe_Latch
80
Fe_Limit
80
Fe_Limit_Mode
81
Fe_Range
81
Fhold_In
81
Fhspeed
82
Fins_Comms
82
Flag
84
Flags
84
For
85
Forward
86
Fpga_Version
86
Frac
86
Frame
86
Free
87
Fslimit
87
Fwd_In
87
Fwd_Jog
88
Get
88
Global
89
Gosub
89
Goto
89
Halt
90
Hex
90
Hlm_Command
90
Hlm_Read
91
Hlm_Status
92
Hlm_Timeout
93
Hlm_Write
94
Hls_Node
95
Hw_Pswitch
95
I_Gain
96
Idle
96
Ieee_In
96
Ieee_Out
96
If..then..else..endif
97
Indevice
98
Initialise
98
Input
99
Int
99
Invert_In
99
Invert_Step
100
Inverter_Command
100
Inverter_Read
101
Inverter_Write
102
Jogspeed
103
Key
103
Last_Axis
104
Linkax
104
Linput
104
List
105
List_Global
105
Lock
106
Mark
106
Markb
107
Mechatrolink
107
Merge
108
Mhelical
109
Mod
109
Motion_Error
109
Move
110
Moveabs
111
Movecirc
112
Movelink
114
Movemodify
115
Mpos
116
Mspeed
116
Mtype
116
Naio
117
Neg_Offset
117
New
117
Next
117
Nio
117
Not
118
Ntype
118
Off
118
Offpos
118
On.. Gosub
119
On.. Goto
119
Open_Win
120
Outdevice
121
Outlimit
121
Ov_Gain
121
P_Gain
122
Pmove
122
Pos_Offset
123
Power_Up
123
Print
123
Proc
124
Proc_Status
124
Process
125
Procnumber
125
Profibus
125
Pswitch
126
Rapidstop
127
Read_Bit
127
Reg_Pos
128
Reg_Posb
128
Regist
128
Remain
130
Remote_Error
130
Rename
130
Rep_Dist
131
Rep_Option
131
Repeat
131
Reset
132
Return
132
Rev_In
132
Rev_Jog
133
Reverse
133
Rslimit
133
Run
133
Run_Error
134
Runtype
134
S_Ref
135
S_Ref_Out
135
Scope
136
Scope_Pos
137
Select
137
Servo
137
Servo_Period
137
Set_Bit
138
Setcom
138
Sgn
139
Sin
139
Slot
139
Speed
139
Sqr
140
Sramp
140
Step
140
Step_Ratio
140
Stepline
141
Stop
141
System_Error
142
T_Ref
142
Table
143
Tablevalues
143
Tan
144
Then
144
Ticks
144
Time
144
Time
145
Trans_Dpos
145
Trigger
145
Troff
145
Tron
146
True
146
Tsize
146
Units
147
Unlock
147
Until
147
Verify
147
Version
147
Vff_Gain
148
Vp_Speed
148
Vrstring
149
Wait Idle
150
Wait Loaded
150
Wait until
150
Wdog
151
While
151
Xor
152
4 Communication Protocols
153
Available Interfaces
153
Ethernet
153
Communicate with Trajexia Directly from Your Computer
154
Communicate with Trajexia Remotely
155
Trajexia Tools Protocol
156
FINS Server Protocol
156
FINS Client Protocol
158
Serial Protocol
158
Host Link Master
158
Host Link Slave
163
User-Defined Protocol
165
Profibus
167
Introduction
167
Communication Set-Up
167
Communication Status
172
Devicenet
173
Introduction
173
Communication Set-Up
173
Communication Status
178
Mechatrolink-II
179
5 Trajexia Tools Interface
180
Introduction
180
Specifications and Connections
180
PC Specifications
180
Install the Trajexia Tools Software
181
Connection to the TJ1-MC
186
Projects
191
Trajexia Tools Projects
191
Check Project Window
192
Trajexia Tools Application Window
194
Control Panel
194
Menu Bar
194
Toolbar
195
Menu Descriptions
196
Project Menu
196
Controller Menu
198
Program Menu
203
Tools Menu
205
Options Menu
221
Windows Menu
224
Help Menu
224
6 Examples and Tips
225
How-To's
225
Startup Program
225
Gain Settings
229
Setting the UNITS Axis Parameter and Gear Ratio
239
Mapping Servo Driver Inputs and Outputs
251
Origin Search
253
Registration
259
Tracing and Monitoring
269
Practical Examples
279
Shell Program
279
Initialization Program
283
Single Axis Program
286
Position with Product Detection
287
Position on a Grid
289
Bag Feeder Program
291
CAM Table Inside a Program
293
Flying Shear Program
295
Correction Program
298
7 Troubleshooting
300
Voltage and Analysis Tools
300
Tj1-MC
300
System Errors
300
Axis Errors
300
Unit Errors
301
Configuration Errors
302
Replace the Battery
302
Tj1-Prt
302
System Errors
302
I/O Data Communication Problems
303
Tj1-Drt
304
System Errors
304
I/O Data Communication Problems
304
Tj1-Ml
304
Bus Errors
304
Tj1-Fl02
305
System Errors
305
4
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Omron TJ1-MC04 - PROGRAMMING 1 Specifications
General
Brand
Omron
Model
TJ1-MC04 - PROGRAMMING 1
Category
Controller
Language
English
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