Omron TJ2-MC64 - PROGRAMMING User Manual

BASIC commands
PROGRAMMING MANUAL 17
Revision 1.0
3 BASIC commands
3.1 Categories
This section lists all BASIC commands divided by categories. The categories
are:
• Axis commands.
•Axis parameters.
• Communication commands and parameters.
• Constants.
• I/O commands, functions and parameters.
• Mathematical functions and operations.
• Program commands.
• Program control commands.
• Slot parameters and modifiers.
• System commands and functions.
• System parameters.
• Task commands and parameters.
The lists are quick reference guides only. A complete description of the
commands is given in alphabetical order in the next section.
3.1.1 Axis commands
/i
Name Description
ACC Changes the ACCEL and DECEL at the same time.
ADD_DAC Sum to the DAC value of one axis to the analogue output of the
base axis.
ADDAX Sets a link to a superimposed axis. All demand position movements
for the superimposed axis will be added to any moves that are cur-
rently being executed.
BACKLASH Allows the backlash compensation to be loaded.
BASE Used to set the base axis to which the commands and parameters
are applied.
CAM Moves an axis according to values of a movement profile stored in
the TABLE variable array.
CAMBOX Moves an axis according to values of a movement profile stored in
the TABLE variable array. The motion is linked to the measured
motion of another axis to form a continuously variable software gear-
box.
CANCEL Cancels the move on an axis.
CONNECT Connects the demand position of an axis to the measured move-
ments of an other axis to produce an electronic gearbox.
DATUM Performs one of 7 origin search sequences to position an axis to an
absolute position or reset a motion error.
DEFPOS Defines the current position as a new absolute position.
DISABLE_GROUP Groups axes together for error disabling.
DRIVE_ALARM Monitors the current alarm.
DRIVE_CLEAR Clears the alarm status of the Servo Drive.
DRIVE_READ Reads the specified parameter of the Servo Drive.
DRIVE_RESET Resets the Servo Drive.
DRIVE_WRITE Writes a specific value to the specified parameter of the Servo Drive.
ENCODER_READ Reads a parameter of the EnDat absolute encoder.
ENCODER_WRITE Writes to a parameter of the EnDat absolute encoder.
FORWARD Moves an axis continuously forward at the speed set in the SPEED
parameter.
MECHATROLINK Initializes MECHATROLINK-II bus and performs various operations
on MECHATROLINK-II stations connected to the bus.
MHELICAL Interpolates 3 orthogonal axes in a helical move.
MHELICALSP Forced speed version of the MHELICAL command.
MOVE Moves one or more axes at the demand speed, acceleration and
deceleration to the position specified as increment from the current
position.
Name Description

Omron TJ2-MC64 - PROGRAMMING Specifications

General

Manufacturer	Omron
Category	Controller
Number of Axes	64
Power Supply Voltage	24 VDC
Humidity	10 to 90% RH (non-condensing)
Model	TJ2-MC64
Series	TJ2
Communication Interface	USB, 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.

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