Contents
PROGRAMMING MANUAL 5
Revision 3.0
1 Safety warnings and precautions..............................................................................................................................................................16
1.1 Intended audience ..........................................................................................................................................................................................................................16
1.2 General precautions .......................................................................................................................................................................................................................16
1.3 Safety precautions .........................................................................................................................................................................................................................16
1.4 Operating environment precautions................................................................................................................................................................................................17
1.5 Application precautions...................................................................................................................................................................................................................18
1.6 Unit assembly precautions..............................................................................................................................................................................................................21
2 Trajexia system ..........................................................................................................................................................................................22
2.1 Introduction .....................................................................................................................................................................................................................................22
2.1.1 Trajexia hardware ............................................................................................................................................................................................................23
2.1.2 This manual ......................................................................................................................................................................................................................23
2.2 Multitasking BASIC programming...................................................................................................................................................................................................23
2.3 BASIC programming.......................................................................................................................................................................................................................24
2.3.1 Axis, system and task statements ....................................................................................................................................................................................24
2.3.2 Memory areas...................................................................................................................................................................................................................24
2.3.3 Data structures and variables...........................................................................................................................................................................................25
2.3.4 Mathematical specifications..............................................................................................................................................................................................27
2.4 Motion execution.............................................................................................................................................................................................................................28
2.4.1 Motion generator ..............................................................................................................................................................................................................28
2.4.2 Sequencing.......................................................................................................................................................................................................................29
2.4.3 Move loading ....................................................................................................................................................................................................................29
2.5 Command line interface..................................................................................................................................................................................................................30
2.6 BASIC programs.............................................................................................................................................................................................................................30
2.6.1 Managing programs..........................................................................................................................................................................................................30
2.6.2 Program compilation.........................................................................................................................................................................................................31
2.6.3 Program execution ...........................................................................................................................................................................................................31
3 BASIC commands ...................................................................................................................................................................................... 33
3.1 Categories ......................................................................................................................................................................................................................................33
3.1.1 Axis commands ...............................................................................................................................................................................................................33
3.1.2 Axis parameters ...............................................................................................................................................................................................................34
3.1.3 Communication commands and parameters ...................................................................................................................................................................36
3.1.4 Constants .........................................................................................................................................................................................................................36
3.1.5 I/O commands, functions and parameters ......................................................................................................................................................................36
3.1.6 Mathematical functions and operands .........................................................................................................................................................................37
3.1.7 Program commands ........................................................................................................................................................................................................37
3.1.8 Program control commands ............................................................................................................................................................................................38
3.1.9 Slot parameters and modifiers ........................................................................................................................................................................................38
3.1.10 System commands and functions ..................................................................................................................................................................................38
I52E-EN-03.book Seite 5 Freitag, 29. Juni 2007 11:55 11
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