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Omron TJ2-MC64 - PROGRAMMING User Manual

Omron TJ2-MC64 - PROGRAMMING
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Communication protocols
PROGRAMMING MANUAL 212
Revision 1.0
ETHERNET(1,-1,14,1,1,3)
ETHERNET(1,-1,14,1,2,2)
Change input address to 100:
ETHERNET(1,-1,14,1,0,100)
4.3 Serial protocol
The TJ2-MC64 has a DB-9 connector that contains two serial ports:
Port 1: RS232
Port 2: RS422 or RS485, depending on the switch settings
See the Trajexia Hardware Reference manual for details.
Both ports can independently support these protocols:
Host Link master
Host Link slave
ModbusRTU slave
User defined protocol
4.3.1 Host Link master
If the TJ2-MC64 is the Host Link master, you can send BASIC commands to
a Host Link slave, for example a PC. When you send a BASIC command to
a Host Link slave, the execution of the next BASIC command waits until the
Host Link slave sends a response.
You can use these BASIC commands:
/i
Note
The serial port (port 1) CANNOT be used for programming the unit.
BASIC command Description
HLM_COMMAND HLM_COMMAND executes a specific Host Link command to the
slave.
HLM_READ HLM_READ reads data from the Host Link slave to either VR or
TABLE memory.
HLM_STATUS HLM_STATUS gives the status of the last command of the Host Link
master.
HLM_TIMEOUT HLM_TIMEOUT defines the Host Link master timeout time.
HLM_WRITE HLM_WRITE writes data to the Host Link slave from either VR or
TABLE memory.
SETCOM SETCOM configures the serial communication port and enables the
Host Link protocols.
BASIC command Description
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Omron TJ2-MC64 - PROGRAMMING Specifications

General IconGeneral
ManufacturerOmron
CategoryController
Number of Axes64
Power Supply Voltage24 VDC
Humidity10 to 90% RH (non-condensing)
ModelTJ2-MC64
SeriesTJ2
Communication InterfaceUSB, RS-232

Summary

About this manual

Functions supported by unit versions

Safety warnings and precautions

Intended audience

Defines the target personnel for this manual, focusing on those with electrical systems knowledge.

Safety precautions

Highlights critical safety measures to prevent electrical shock and damage during operation.

Operating environment precautions

Details precautions for operating the unit in various environmental conditions to prevent malfunction.

Application precautions

Covers precautions related to system application, wiring, and power supply to ensure safe operation.

Trajexia system

Introduction

Introduces Trajexia as OMRON's motion platform, highlighting its flexibility, scalability, and core components.

BASIC programming

Explains the structure of the BASIC language for controlling the TJ2-MC64, including commands, functions, and parameters.

Motion execution

Describes how tasks manage motion commands and the role of the motion generator and its buffers.

BASIC commands

Categories

Lists and categorizes all available BASIC commands for quick reference.

All BASIC commands

Provides a comprehensive alphabetical listing and description of all BASIC commands.

Axis commands

Details commands related to controlling and manipulating individual axes.

Axis parameters

Describes parameters that define and monitor the behavior of each axis.

Communication protocols

Available interfaces

Lists the available communication interfaces for the Trajexia system.

Ethernet

Details the Ethernet port configuration and usage for PC connectivity.

Serial protocol

Explains the serial ports and supported protocols like Host Link and ModbusRTU.

DeviceNet

Describes the DeviceNet protocol and its communication setup.

CANopen

Covers the CANopen networking system and communication setup procedures.

Examples and tips

How-to’s

Provides practical guidance and step-by-step instructions for common operations.

Startup program

Explains how to create and set a startup program for system initialization.

Setting the UNITS axis parameter and gear ratio

Details how to set the UNITS parameter for axis conversion and gear ratio.

Origin search

Describes the origin search or homing functionality for axis positioning.

Practical examples

Presents real-world application examples and code snippets.

SHELL programs and Trajexia Studio

Guides on creating and using SHELL programs for application management.

Troubleshooting

Voltage and analysis tools

Covers checks for power supply voltage and using analysis tools for diagnosis.

TJ2-MC64

Details system errors, axis errors, unit errors, and configuration errors for the TJ2-MC64.

System errors

Explains system errors displayed on the TJ2-MC64 LED display and their causes/solutions.

Axis errors

Describes axis errors shown on the TJ2-MC64 LED display, including causes and solutions.

Unit errors

Details unit errors shown on the TJ2-MC64 LED display, including causes and solutions.

TJ1-PRT

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

System errors

Lists system errors for the TJ1-PRT and their corresponding problems and solutions.

TJ1-DRT

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

System errors

Lists system errors for the TJ1-DRT, including their causes and solutions.

TJ1-CORT

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

System errors

Lists system errors for the TJ1-CORT, including their causes and solutions.

TJ1-ML__

Details system errors and bus errors related to the TJ1-ML__ unit.

System errors

Lists system errors for the TJ1-ML__, including causes and solutions.

GRT1-ML2

Covers unit power supply, I/O power supply, unit, and SmartSlice I/O errors.

Unit power supply errors

Explains issues related to the GRT1-ML2 unit power supply status.

I/O power supply errors

Details issues related to the external I/O power supply for SmartSlice I/O Units.

Unit errors

Lists unit errors during GRT1-ML2 initialization, including causes and solutions.

SmartSlice I/O errors

Covers errors related to SmartSlice I/O communication and configuration.

GRT1-ML2 timing

Timing concepts

Explains I/O timing issues and concepts like refresh cycles and paging.

Refresh cycles

Details the refresh cycles between TJ2-MC64, GRT1-ML2, and SmartSlice I/O Units.

Examples

Provides examples illustrating I/O timing calculations for SmartSlice I/O Units.

Example 1

Illustrates I/O timing calculations for GRT1-ID4 and GRT1-OD4 SmartSlice units.

Example 2

Shows I/O timing calculations for a more complex setup with multiple SmartSlice units.

Revision history

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