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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