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Omron TJ1-MC04 - PROGRAMMING 1 User Manual

Omron TJ1-MC04 - PROGRAMMING 1
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Examples and tips
PROGRAMMING MANUAL 251
Revision 3.0
The calculation of the multiturn limit setting parameter Pn205 is not needed
in this case because the ball screw is a system with a fixed (limited) axis. It is
enough to set this value large enough to have the overflow of the counter out
of the effective position. Also, because of the axis is finite, it is not important
to set the REP_OPTION parameter, because REP_DIST must be set large
enough so it is outside of the maximum effective position (540 mm). One
solution is: REP_DIST = 1000 and REP_OPTION = 0.
With these setting, executing MOVE(17) moves the ball screw 17 mm in
forward direction.
6.1.4 Mapping Servo Driver inputs and outputs
The Trajexia controller has got a digital I/O space that consists of 256 digital
inputs and 256 digital outputs.
The digital outputs range has four parts:
Digital outputs 0 - 7.
These outputs do not physically exist on the TJ1-MC__. If you write
these outputs, nothing happens. If you read these outputs, they return 0.
Digital outputs 8 - 15.
These outputs physically exist on the TJ1-MC__. You can physically
access them on the 28-pin screwless connector on the front side of the
TJ1-MC__ (see the Hardware Reference Manual for details). If you write
these outputs, they become active and give a 24 VDC signal. If you read
these outputs, they return their current status. Use the command OP to
write and read these outputs.
Digital outputs 16 - 31.
These outputs are software outputs only. They do not physically exist on
the TJ1-MC__, but you can write them and read their correct status. You
use these outputs mostly in BASIC programs to accomplish some
control sequences that require outputs which do not need to be physical.
Use the command OP to write and read these outputs.
Digital outputs 32 - 255.
These outputs are physically present only if additional digital I/O units
are connected to the TJ1-MC__ via MECHATROLINK-II bus. Writing and
reading them if they do not physically exist (when the I/O units are not
connected) has no effect. Use the command OP to write and read these
outputs.
All outputs are unique to the controller. They are not accessed per axis.
The digital input range has three parts:
Digital inputs 0 - 15.
These inputs physically exist on the TJ1-MC__. You can physically
access them on the 28-pin screwless connector on the front side of the
TJ1-MC__ (see the Hardware Reference Manual for details). These
inputs are active (ON) when a 24 VDC signal is applied to them. When
you read them, they return their current status. Use the command IN to
read these inputs.
Digital inputs 16 - 31.
These outputs are software inputs only. They do not physically exist on
the TJ1-MC__, but you can read them. You use them mostly in BASIC
programs to accomplish some control sequences that require inputs
which do not need to be physical. Use the command IN to read these
inputs.
Digital inputs 32 - 255.
These inputs are physically present only if additional digital I/O units are
connected to the TJ1-MC__ via the MECHATROLINK-II bus. If you read
them if they do not physically exist (the I/O units are not connected), they
return 0. Use the command IN to read these inputs.
All inputs are unique to the controller. They are not accessed per axis.
MECHATROLINK-II Servo Drivers inputs in the Trajexia I/O space
With the BASIC command IN, you can access the physically present inputs
in a BASIC program. These inputs can be built in the controller or connected
via the MECHATROLINK-II bus.
Some inputs of the Servo Driver are mapped into the Trajexia I/O space.
Therefore, you can access these inputs from the BASIC program. Trajexia
only supports this for Servo Drivers connected to the Trajexia system via the
MECHATROLINK-II bus.
The selection of inputs of the Servo Driver that are mapped into the Trajexia
I/O space depends on the value of the parameter Pn81E. The
recommended value of Pn81E is 0x4321.
With this default value, the mapping is as follows for the Sigma-II Servo
Driver:
I52E-EN-03.book Seite 251 Freitag, 29. Juni 2007 11:55 11

Table of Contents

Questions and Answers:

Omron TJ1-MC04 - PROGRAMMING 1 Specifications

General IconGeneral
BrandOmron
ModelTJ1-MC04 - PROGRAMMING 1
CategoryController
LanguageEnglish

Summary

Notice and Trademarks

Definition of Precautionary Information

Defines DANGER, WARNING, and CAUTION symbols used for safety precautions.

Trademarks and Copyrights

Lists trademarks and copyright information related to the product and manual.

About this Manual

Trajexia Motion Control System QUICK START GUIDE

Describes how to quickly get familiar with Trajexia, moving a single axis using MECHATROLINK-II.

Trajexia Motion Control System PROGRAMMING MANUAL

Details BASIC commands, communication protocols, Trajexia Tools, examples, and troubleshooting.

Functions Supported by Unit Versions

Verify Firmware and FPGA Versions

Instructions to verify firmware and FPGA versions of the TJ1-MC__ using Trajexia Tools.

Safety Warnings and Precautions

1.1 Intended Audience

Specifies the target audience for the manual: personnel knowledgeable in electrical systems.

1.2 General Precautions

Outlines general operating precautions and consultation requirements for specific applications.

1.3 Safety Precautions

Details critical safety measures for handling units, internal parts, and avoiding electrical shock.

1.4 Operating Environment Precautions

Lists precautions for operating the unit in specific environmental conditions to prevent malfunction.

1.5 Application Precautions

Covers precautions for system operation, program checks, power supply, and external wiring.

1.6 Unit Assembly Precautions

Provides precautions for proper unit installation and termination unit mounting.

Trajexia System Overview

2.1 Introduction

Introduces Trajexia as a flexible motion platform with DSP-powered coordination.

2.1.1 Trajexia Hardware

Details Trajexia hardware components: Ethernet, Serial Port, MECHATROLINK-II, and drives.

2.3 BASIC Programming

Introduces BASIC language structure: commands, functions, parameters, and statements.

2.4 Motion Execution

Explains motion execution, including the motion generator, sequencing, and move loading processes.

2.5 Command Line Interface

Describes the command line interface for executing commands and accessing system parameters.

2.6 BASIC Programs

Covers managing BASIC programs: storage, manipulation, and Trajexia Tools integration.

BASIC Commands Reference

3.1 Categories

Lists categories of BASIC commands: Axis, Communication, I/O, Mathematical, System, Task.

3.1.1 Axis Commands

Provides a reference for axis commands like ACC, ADDAX, BASE, CAM, CANCEL, CONNECT.

3.1.2 Axis Parameters

Lists key axis parameters such as ACCEL, ATYPE, AXISSTATUS, DPOS, SERVO, SPEED.

3.1.3 Communication Commands and Parameters

Details communication commands and parameters like FINS_COMMS, HLM_READ, SETCOM.

3.1.5 I/O Commands, Functions and Parameters

Lists I/O commands, functions, and parameters such as GET, IN, OP, PRINT, PSWITCH.

3.1.6 Mathematical Functions and Operands

Covers mathematical functions and operands including ABS, AND, COS, EXP, INT, SIN, SQR.

3.1.8 Program Control Commands

Lists program control commands like DEL, DIR, RUN, STOP, STEPLINE, TRON.

3.2 All BASIC Commands (Selected)

Highlights key BASIC commands: +, BASE, CONNECT, MOVE, RUN, TABLE, UNITS.

Communication Protocols

4.1 Available Interfaces

Lists available interfaces: Ethernet, Serial, PROFIBUS, DeviceNet, MECHATROLINK-II.

4.2 Ethernet

Describes Ethernet port configuration: IP address, subnet mask, and gateway settings.

4.2.1 Communicate Directly from Computer

Instructions for direct PC-Trajexia connection via Ethernet, including settings.

4.2.2 Communicate Remotely

Explains remote connection to Trajexia system via Ethernet, covering IP settings.

4.2.4 FINS Server Protocol

Details the FINS protocol for communication with OMRON devices and its implementation.

4.3 Serial Protocol

Describes TJ1-MC__ serial ports and supported protocols: Host Link and User-defined.

4.3.1 Host Link Master

Explains sending BASIC commands to a Host Link slave when TJ1-MC__ is master.

4.3.2 Host Link Slave

Details how a master reads/writes data to TJ1-MC__ when it acts as a slave.

4.4 PROFIBUS

Introduces PROFIBUS standard and communication setup for TJ1-PRT.

4.5 DeviceNet

Introduces DeviceNet standard and communication setup for TJ1-DRT.

4.6 MECHATROLINK-II

Describes MECHATROLINK-II protocol for deterministic motion control and its cyclic transmission.

Trajexia Tools Interface

5.1 Introduction

Introduces Trajexia Tools software for programming, monitoring, and debugging the Trajexia system.

5.2 Specifications and Connections

Lists PC specifications and connection procedures for Trajexia Tools.

5.3 Projects

Explains Trajexia Tools Projects for easier application design, consistency, and backup.

5.4 Trajexia Tools Application Window

Details the components of the Trajexia Tools window: Control Panel, Menu Bar, Toolbar.

5.5 Menu Descriptions

Describes Project, Controller, Program, Tools, Options, Windows, and Help menus.

Examples and Tips

6.1 How-to’s

Provides guidance on specific tasks: Startup program, Gain settings, UNITS parameter, Mapping I/O.

6.1.5 Origin Search

Explains the origin search (homing) functionality and its pre-defined sequences.

6.1.6 Registration

Explains registration for real-time axis position storing upon external input activation.

6.1.7 Tracing and Monitoring

Details oscilloscope functionality for tracing axis/system parameters for development and troubleshooting.

6.2 Practical Examples

Presents practical examples: Shell program, Initialization, Single axis, Product detection, Grid positioning.

6.2.1 Shell Program

Explains the importance and structure of a shell program for application management.

6.2.2 Initialization Program

Describes setting axis parameters based on encoder resolution and motor speed.

6.2.3 Single Axis Program

Provides a simple BASIC program example for running a single axis.

6.2.4 Position with Product Detection

Describes a ballscrew moving to detect a product using a microswitch.

6.2.5 Position on a Grid

Describes positioning on a grid for filling boxes on a palette.

6.2.6 Bag Feeder Program

Explains bag feeder operation modes and provides a typical program code.

6.2.7 CAM Table Inside a Program

Shows how to create a CAM table and use the CAMBOX command.

6.2.8 Flying Shear Program

Provides an example of a Flying shear program involving three axes.

6.2.9 Correction Program

Describes a correction program for a rotary labeller using a virtual axis.

Troubleshooting

7.1 Voltage and Analysis Tools

Advises checking power supply voltage and using Trajexia Tools for diagnosis.

7.2 TJ1-MC__

Covers system, axis, unit, and configuration errors for the TJ1-MC__.

7.2.1 System Errors

Explains system errors shown on TJ1-MC__ LED and lists common errors with causes/solutions.

7.2.2 Axis Errors

Explains axis errors, their causes (parameter, Servo Driver), and removal steps.

7.2.3 Unit Errors

Details unit errors, their causes (defective unit, disconnection), and solutions.

7.2.4 Configuration Errors

Lists causes of configuration errors and how to solve them by adhering to system unit rules.

7.2.5 Replace the Battery

Provides steps for replacing the unit's backup battery to prevent data loss.

7.3 TJ1-PRT

Covers system errors and I/O communication problems for the TJ1-PRT.

7.4 TJ1-DRT

Covers system errors and I/O communication problems for the TJ1-DRT.

7.5 TJ1-ML__

Covers system errors and bus errors for the TJ1-ML__.

7.6 TJ1-FL02

Covers system errors for the TJ1-FL02.

Revision History

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