Omron TJ2-MC64 - PROGRAMMING User Manual

BASIC commands
PROGRAMMING MANUAL 58
Revision 1.0
3.2.48 CAN_CORT
/i
Type System command
Syntax CAN_CORT(unit,4,0)
Retrieves the unit status. See the table in section 4.6.2.
CAN_CORT(unit,5,bit_rate)
Initialises the TJ1-CORT with the desired bit rate.
CAN_CORT(unit,6,node_ID,mandatory_flag)
Add a slave node to the TJ1-CORT and indicate whether it is permanently
available on the network.
CAN_CORT(unit,7,PDO_number,area_type,start_address,COB_ID,
obj_type, obj_type,…)
Configure an RPDO.
CAN_CORT(unit,8,PDO_number,area_type,start_address,COB_ID,
inhibit_time,event_timer,obj_type, obj_type,…)
Configure a TPDO.
CAN_CORT(unit,9,node_ID,index,subindex,byte1,byte2,…)
Make the TJ1-CORT configure an object in a slave during the CANopen net-
work initialization.
CAN_CORT(unit,10)
Start the CANopen network and map the Trajexia memory to RPDOs and
TPDOs.
CAN_CORT(unit,11,mode)
Set the CANopen network to pre-operational or operational state.
CAN_CORT(unit,12,node_ID,index,subindex,VR_address)
Reads the value of a CANopen node object using an SDO (Service Data
Object) command into the VR array. Each byte of the returned value occupies
one VR address.
CAN_CORT(unit,13,node_ID,index,subindex,VR_address,data_len)
Write a value of a CANopen node object using an SDO command using the
VR array as source. Each VR address is interpreted as one byte of the value
that is written.
CAN_CORT(unit,14,node_ID,VR_address)
Reads the EMCY (emergency) message from a node into the VR array. Each
byte of the eight bytes occupies one VR address.
Description The CAN_CORT commands where the second argument is 4 through 10 are
normally used in a BASIC program that is run at startup. The sequence of the
CAN_CORT commands that configure a CANopen network is important.
Arguments • unit
The sequence number of the unit.
• bit_rate
The bit rate on the CAN bus. Valid values are 2 (500 Kbps), 3 (250
Kbps), 4 (125 Kbps), 5 (50 Kbps) and 6 (20 Kbps).
• node_ID
The CANopen node on the CAN bus.
• mandatory_flag
The mandatory flag of the node.
- 0 = optional, no error occurs when the node is not in the network.
- 1= mandatory, an error occurs when the node is not in the network.
• PDO_number
Identification of an individual PDO. PDO_number can range from 0 to 7.
• area_type
The memory area in Trajexia: 1 = VR, 2 = TABLE, 3 = Digital I/O, 4 =
Analog I/O.
• start_address
The array index in the VR, TABLE, IN, OP, AIN or AOUT array.
• COB_ID
The COB (Controller Object Identification) ID used to identify a PDO in a
CANopen network.
• obj_type
The CANopen object type. Valid values are: 2 = INT8, 3 = INT16, 4 =
INT32, 5 = UINT8, 6 = UINT16, 7 = UINT32.
• inhibit_time
The minimum time in 0.1 ms units between two consecutive transmis-
sions of a TPDO.
• event_timer
The maximum time in ms units that is observed between two consecu-
tive transmissions of a TPDO. If this value is 0, the time is unlimited. The
TPDO is sent only when the contents changes.
• index
The index of the addressed CANopen object.
• subindex
The subindex within the addressed CANopen object.

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