Omron TJ2-MC64 - PROGRAMMING User Manual

BASIC commands
PROGRAMMING MANUAL 22
Revision 1.0
3.1.7 Program commands
/i
<> (IS NOT EQUAL
TO)
Checks two expressions to see if they are different.
> (IS GREATER THAN) Checks two expressions to see if the expression on the left is
greater than the expression on the right.
>= (IS GREATER
THAN OR EQUAL TO)
Checks two expressions to see if the expression on the left is
greater than or equal to the expression on the right.
< (IS LESS THAN) Checks two expressions to see if the expression on the left is
less than the expression on the right.
<= (IS LESS THAN OR
EQUAL TO)
Checks two expressions to see if the expression on the left is
less than or equal to the expression on the right.
ABS Returns the absolute value of an expression.
ACOS Returns the arc-cosine of an expression.
AND Performs an AND operation on corresponding bits of the integer
parts of two expressions.
ASIN Returns the arc-sine of an expression.
ATAN Returns the arc-tangent of an expression.
ATAN2 Returns the arc-tangent of the non-zero complex number made
by two expressions.
B_SPLINE Expands the profile stored in TABLE memory using the B-Spline
mathematical function.
COS Returns the cosine of an expression.
EXP Returns the exponential value of an expression.
FRAC Returns the fractional part of an expression.
IEEE_IN Returns floating point number in IEEE format, represented by 4
bytes.
IEEE_OUT Returns single byte extracted from the floating point number in
IEEE format.
INT Returns the integer part of an expression.
LN Returns the natural logarithm of an expression.
MOD Returns the modulus of two expressions.
Name Description
NOT Performs a NOT operation on corresponding bits of the integer
part of the expression.
OR Performs an OR operation between corresponding bits of the
integer parts of two expressions.
SGN Returns the sign of an expression.
SIN Returns the sine of an expression.
SQR Returns the square root of an expression.
TAN Returns the tangent of an expression.
XOR Performs an XOR function between corresponding bits of the
integer parts of two expressions.
Name Description
' (COMMENT FIELD) Enables a line not to be executed.
: (STATEMENT
SEPARATOR)
Enables more statements on one line.
AUTORUN Starts all the programs that have been set to run at start-up.
COMPILE Compiles the current program.
COPY Copies an existing program in the motion controller to a new
program.
DEL Deletes a program from the motion controller.
DIR Displays a list of the programs in the motion controller, their size
and their RUNTYPE on the standard output.
LIST Prints the program on the standard output.
NEW Deletes all lines of the program in the motion controller.
PROCESS Returns the running status and task number for each current
task.
RENAME Changes the name of a program in the motion controller.
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.

Revision history