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Trajexia motion control systemTJ1-MC04TJ1-MC16PROGRAMMING MANUALCat. No. I52E-EN-05Austria Tel: + ()   www.omron.at Belgium Tel: + ()

Safety warnings and precautionsPROGRAMMING MANUAL 4Revision 5.0CautionAlways connect to a class-3 ground (to 100Ω or less) when install-ing the Units.

BASIC commandsPROGRAMMING MANUAL 94Revision 5.03.2.135 GET/i/i/i3.2.136 GLOBAL/iType I/O commandSyntax GET [#n,] variableDescription The GET command a

BASIC commandsPROGRAMMING MANUAL 95Revision 5.03.2.137 GOSUB..RETURN/i3.2.138 GOTO/i3.2.139 HALT/i3.2.140 HEX/iType Program control commandSyntax GOSU

BASIC commandsPROGRAMMING MANUAL 96Revision 5.03.2.141 HLM_COMMAND/i/i/i/i/iExample PRINT#5,HEX(IN(8,16))See also N/AType Communication commandSyntax

BASIC commandsPROGRAMMING MANUAL 97Revision 5.03.2.142 HLM_READ/i/iExample HLM_COMMAND(HLM_MREAD,1,12,MC_VR,233)This command reads the CPU Unit model

BASIC commandsPROGRAMMING MANUAL 98Revision 5.0/i/i/i3.2.143 HLM_STATUS/i/i/iPLC_EM(or value 6)EM area RE• plc_offsetThe address of the specified PC m

BASIC commandsPROGRAMMING MANUAL 99Revision 5.03.2.144 HLM_TIMEOUT/ifig. 27/iExample >> HLM_WRITE(1,28,PLC_EM,50,25,MC_VR,200)>> PRINT HEX

BASIC commandsPROGRAMMING MANUAL 100Revision 5.03.2.145 HLM_WRITE/i/i/i/i/iType Communication commandSyntax HLM_WRITE(port, node, plc_area, plc_offset

BASIC commandsPROGRAMMING MANUAL 101Revision 5.03.2.146 HLS_NODE/i3.2.147 HW_PSWITCH/iExample HLM_WRITE(1,28,PLC_EM,50,25,MC_VR,200)This example shows

BASIC commandsPROGRAMMING MANUAL 102Revision 5.03.2.148 I_GAIN/i3.2.149 IDLESee WAIT IDLE.3.2.150 IEEE_IN/i3.2.151 IEEE_OUT/i3.2.152 IF..THEN..ELSE..E

BASIC commandsPROGRAMMING MANUAL 103Revision 5.03.2.153 IN/iDescription This structure controls the flow of the program based on the results of the co

Safety warnings and precautionsPROGRAMMING MANUAL 5Revision 5.01.6 Unit assembly precautionsCautionResume operation only after transferring to the new

BASIC commandsPROGRAMMING MANUAL 104Revision 5.03.2.154 INDEVICE/i/i/i3.2.155 INITIALISE/i3.2.156 INPUT/iExample The following lines can be used to mo

BASIC commandsPROGRAMMING MANUAL 105Revision 5.03.2.157 INT/i3.2.158 INVERT_IN/i3.2.159 INVERT_STEP/iDescription The INPUT command will assign numeric

BASIC commandsPROGRAMMING MANUAL 106Revision 5.03.2.160 INVERTER_COMMAND/i/iDescription INVERT_STEP is used to switch a hardware Inverter into the ste

BASIC commandsPROGRAMMING MANUAL 107Revision 5.0/i3.2.161 INVERTER_READ/i13 Hex 2000 Inverter multifunction Input 12 (only G7)14 Hex 4000 Fault hist

BASIC commandsPROGRAMMING MANUAL 108Revision 5.0/i/i3.2.162 INVERTER_WRITE/iDescription INVERTER_READ reads the parameter, speed reference, torque ref

BASIC commandsPROGRAMMING MANUAL 109Revision 5.03.2.163 JOGSPEED/i3.2.164 KEY/iDescription INVERTER_WRITE writes the parameter, speed reference or tor

BASIC commandsPROGRAMMING MANUAL 110Revision 5.0/i/i3.2.165 LAST_AXIS/i3.2.166 LINPUT/i/i/iArguments • nThe specified input device. When this argument

BASIC commandsPROGRAMMING MANUAL 111Revision 5.03.2.167 LIST/i3.2.168 LIST_GLOBAL/i3.2.169 LN/i3.2.170 LOCK/iExample Consider the following line in a

BASIC commandsPROGRAMMING MANUAL 112Revision 5.03.2.171 MARK/i3.2.172 MARKB/i3.2.173 MECHATROLINK/iSyntax LOCK(code)UNLOCK(code)Description The LOCK c

BASIC commandsPROGRAMMING MANUAL 113Revision 5.03.2.174 MERGE/iSyntax MECHATROLINK(unit,0)Detects and connects devices on MECHATROLINK-II Master Unit

Trajexia systemPROGRAMMING MANUAL 6Revision 5.02 Trajexia system 2.1 Introductionfig. 1Trajexia is OMRON's motion platform that offers you the p

BASIC commandsPROGRAMMING MANUAL 114Revision 5.03.2.175 MHELICAL/iType Axis commandSyntax MHELICAL(end1, end2, centre1, centre2, direction, distance3

BASIC commandsPROGRAMMING MANUAL 115Revision 5.0fig. 28/ir3Example The command sequence follows a rounded rectangle path with axis 1 and 2. Axis 3 is

BASIC commandsPROGRAMMING MANUAL 116Revision 5.0fig. 29/iSTARTExample A PVC cutter uses 2 axes similar to a X-Y plotter. The third axis is used to con

BASIC commandsPROGRAMMING MANUAL 117Revision 5.03.2.176 MOD/i3.2.177 MOTION_ERROR/i3.2.178 MOVE/iType Mathematical functionSyntax expression1 MOD expr

BASIC commandsPROGRAMMING MANUAL 118Revision 5.0Example Axes 3, 4 and 5 must move independently, that is, without interpolation. Each axis moves at it

BASIC commandsPROGRAMMING MANUAL 119Revision 5.0fig. 30/iABCDEExample An X-Y plotter can write text at any position within its working envelope. Indi-

BASIC commandsPROGRAMMING MANUAL 120Revision 5.03.2.179 MOVEABS/iType Axis commandSyntax MOVEABS(distance_1 [ , distance_2 [ , distance_3 [ , distance

BASIC commandsPROGRAMMING MANUAL 121Revision 5.0fig. 31/iExample A machine must move to one of 3 positions depending on the selection made by 2 switch

BASIC commandsPROGRAMMING MANUAL 122Revision 5.0fig. 32/i3.2.180 MOVECIRC/i0,0AXIS 1AXIS 0Example A pallet consists of a 6 by 8 grid in which gas cani

BASIC commandsPROGRAMMING MANUAL 123Revision 5.0fig. 33/iDescription The MOVECIRC command interpolates 2 orthogonal axes in a circular arc at the tool

Trajexia systemPROGRAMMING MANUAL 7Revision 5.0Keep your know-how safeTrajexia's encryption method guarantees complete protection and confidentia

BASIC commandsPROGRAMMING MANUAL 124Revision 5.0/ifig. 34/iDirection Right-hand axis Left-hand axis0 Positive Negative1 Negative PositiveSPECIFIED END

BASIC commandsPROGRAMMING MANUAL 125Revision 5.0fig. 35/ifig. 36/iECDHGBFAExample The following command sequence plots the letter O:MOVE(0,6) ' M

BASIC commandsPROGRAMMING MANUAL 126Revision 5.03.2.181 MOVELINK/iType Axis commandSyntax MOVELINK(distance, link_distance, link_acceleration, link_de

BASIC commandsPROGRAMMING MANUAL 127Revision 5.0fig. 37/i/iArguments • distanceThe incremental distance in user units to move the BASE axis, as a resu

BASIC commandsPROGRAMMING MANUAL 128Revision 5.0/ifig. 38/i• link_positionThe absolute position where MOVELINK will start when link_option is set to 2

BASIC commandsPROGRAMMING MANUAL 129Revision 5.0Rule 1: In an acceleration phase to a matching speed, the link distance must be twice the movement dis

BASIC commandsPROGRAMMING MANUAL 130Revision 5.0fig. 39/i3.2.182 MOVEMODIFY/iENCODERAXIS 1NON-SERVOSPINDLE MOTORSERVO MOTORAXIS 0Example In this examp

BASIC commandsPROGRAMMING MANUAL 131Revision 5.0fig. 40fig. 41/iSENSORSHEET GLASS250mmSENSOR SEEN250mmORIGINAL MOVEExample A sheet of glass is fed on

BASIC commandsPROGRAMMING MANUAL 132Revision 5.0fig. 42/ifig. 43/iSENSORExample A paper feed system slips. To counteract this, a proximity sensor is p

BASIC commandsPROGRAMMING MANUAL 133Revision 5.03.2.183 MPOS/i3.2.184 MSPEED/i3.2.185 MTYPE/i/iType Axis parameter (read-only)Syntax MPOSDescription T

Trajexia systemPROGRAMMING MANUAL 8Revision 5.02.3 BASIC programmingThe BASIC language consists among others of commands, functions and parameters. Th

BASIC commandsPROGRAMMING MANUAL 134Revision 5.0/i3.2.186 NAIO/i3.2.187 NEG_OFFSET/i3.2.188 NEW/i3.2.189 NEXTSee FOR..TO..STEP..NEXT.3.2.190 NIO/iMTYP

BASIC commandsPROGRAMMING MANUAL 135Revision 5.03.2.191 NOT/i/i/i3.2.192 NTYPE/i3.2.193 OFF/iDescription Returns the number of inputs/outputs fitted t

BASIC commandsPROGRAMMING MANUAL 136Revision 5.03.2.194 OFFPOS/iType Axis parameterSyntax OFFPOSDescription The OFFPOS parameter contains an offset th

BASIC commandsPROGRAMMING MANUAL 137Revision 5.0fig. 44/iExample A conveyor transports boxes. Labels must be applied onto these boxes. The REGIST func

BASIC commandsPROGRAMMING MANUAL 138Revision 5.03.2.195 ON/i3.2.196 ON.. GOSUB/i3.2.197 ON.. GOTO/i3.2.198 OP/iType Constant (read-only)Syntax ONDescr

BASIC commandsPROGRAMMING MANUAL 139Revision 5.03.2.199 OPEN_WIN/i3.2.200 OR/iDescription The OP command sets one or more outputs or returns the state

BASIC commandsPROGRAMMING MANUAL 140Revision 5.0/i/i3.2.201 OUTDEVICE/i/i/i3.2.202 OUTLIMIT/iBit 1 Bit 2 Result000011101111Arguments • expression1Any

BASIC commandsPROGRAMMING MANUAL 141Revision 5.03.2.203 OV_GAIN/i3.2.204 P_GAIN/i3.2.205 PI/i3.2.206 PMOVE/iType Axis parameterSyntax OV_GAINDescripti

BASIC commandsPROGRAMMING MANUAL 142Revision 5.03.2.207 POS_OFFSET/i3.2.208 POWER_UP/i3.2.209 PRINT/i/iExample No example.See also NTYPE, PROC.Type Sy

BASIC commandsPROGRAMMING MANUAL 143Revision 5.0/i3.2.210 PROC/i3.2.211 PROC_STATUS/i/i/i5 Trajexia Studio port 0 user channel 56 Trajexia Studio port

Trajexia systemPROGRAMMING MANUAL 9Revision 5.0VR memoryVR memory is commonly used if some data or value needs to be global, which means that it is ac

BASIC commandsPROGRAMMING MANUAL 144Revision 5.03.2.212 PROCESS/i3.2.213 PROCNUMBER/i3.2.214 PROFIBUS/i/i/iType Program commandSyntax PROCESSDescripti

BASIC commandsPROGRAMMING MANUAL 145Revision 5.03.2.215 PSWITCH/iType I/O commandSyntax PSWITCH(switch, enable [ , axis, output_number, output_state,

BASIC commandsPROGRAMMING MANUAL 146Revision 5.03.2.216 RAPIDSTOP/ifig. 45/iType Axis commandSyntax RAPIDSTOPRSDescription The RAPIDSTOP command cance

BASIC commandsPROGRAMMING MANUAL 147Revision 5.0fig. 46/ifig. 47/iExample This example shows the use of RAPIDSTOP to cancel a MOVE on the main axis an

BASIC commandsPROGRAMMING MANUAL 148Revision 5.03.2.217 READ_BIT/i3.2.218 READ_OP/i3.2.219 REG_POS/iType System commandSyntax READ_BIT(bit_number, vr_

BASIC commandsPROGRAMMING MANUAL 149Revision 5.03.2.220 REG_POSB/iExample A paper cutting machine uses a CAM profile shape to quickly draw paper throu

BASIC commandsPROGRAMMING MANUAL 150Revision 5.03.2.221 REGIST/i/i/iType Axis commandSyntax REGIST(mode)Description The REGIST command sets up the reg

BASIC commandsPROGRAMMING MANUAL 151Revision 5.0/i5, 4 Secondary registration occurs for:• 00: Z-mark of the encoder• 01: EXT1 input• 10: EXT2 input•

BASIC commandsPROGRAMMING MANUAL 152Revision 5.0fig. 48/iZ MARKSERVO MOTORExample A disc used in a laser printing process requires registration to the

BASIC commandsPROGRAMMING MANUAL 153Revision 5.0fig. 49/iRAMSENSOR BEAMSENSORExample Components are placed on a flighted belt. The flights are 120 mm

Trajexia systemPROGRAMMING MANUAL 10Revision 5.0Local variablesNamed variables or local variables can be declared in programs and are local to the tas

BASIC commandsPROGRAMMING MANUAL 154Revision 5.0fig. 50/iENCODERSENSORGLUE APPLICATORExample A machine adds glue to the top of a box. To do this, it m

BASIC commandsPROGRAMMING MANUAL 155Revision 5.03.2.222 REMAIN/i3.2.223 RENAME/i3.2.224 REP_DIST/iType Axis parameter (read-only)Syntax REMAINDescript

BASIC commandsPROGRAMMING MANUAL 156Revision 5.03.2.225 REP_OPTION/i/i/i3.2.226 REPEAT..UNTIL/i3.2.227 RESET/iSee also AXIS, DPOS, MPOS, REP_OPTION, U

BASIC commandsPROGRAMMING MANUAL 157Revision 5.03.2.228 RETURNSee GOSUB..RETURN.3.2.229 REV_IN/i3.2.230 REV_JOG/i3.2.231 REVERSE/iType Axis parameterS

BASIC commandsPROGRAMMING MANUAL 158Revision 5.0fig. 51/ifig. 52/iExample Run an axis in reverse. When it reaches a certain position, slow down.DEFPOS

BASIC commandsPROGRAMMING MANUAL 159Revision 5.03.2.232 RS_LIMIT/i3.2.233 RUN/i3.2.234 RUN_ERROR/i/iType Axis parameterSyntax RS_LIMITRSLIMITDescripti

BASIC commandsPROGRAMMING MANUAL 160Revision 5.05 Assignment expected 74 Directory already locked6 QUOTES expected 75 Program not running on this proc

BASIC commandsPROGRAMMING MANUAL 161Revision 5.0/i3.2.235 RUNTYPE/i51 LABEL must be at start of line 120 Device error: Command not sup-ported by devic

BASIC commandsPROGRAMMING MANUAL 162Revision 5.03.2.236 S_REF/i3.2.237 S_REF_OUT/i3.2.238 SCOPE/iType Axis parameterSyntax DACS_REFDescription This pa

BASIC commandsPROGRAMMING MANUAL 163Revision 5.03.2.239 SCOPE_POS/i3.2.240 SELECT/iDescription The SCOPE command programs the system to automatically

Trajexia systemPROGRAMMING MANUAL 11Revision 5.0/i2.3.4 Mathematical specificationsNumber formatThe TJ1-MC__ has two main formats for numeric values:

BASIC commandsPROGRAMMING MANUAL 164Revision 5.03.2.241 SERVO/i3.2.242 SERVO_PERIOD/i/i/i3.2.243 SET_BIT/iDescription The SELECT command specifies the

BASIC commandsPROGRAMMING MANUAL 165Revision 5.03.2.244 SETCOM/i/i/i/i/i3.2.245 SGN/i3.2.246 SIN/iArguments • bit_numberThe number of the bit to be se

BASIC commandsPROGRAMMING MANUAL 166Revision 5.03.2.247 SLOT/i3.2.248 SPEED/i3.2.249 SPEED_SIGN/i3.2.250 SQR/iSyntax SIN(expression)Description The SI

BASIC commandsPROGRAMMING MANUAL 167Revision 5.03.2.251 SRAMP/i3.2.252 STEPSee FOR..TO..STEP..NEXT.3.2.253 STEP_RATIO/iExample >> PRINT SQR(4)2.

BASIC commandsPROGRAMMING MANUAL 168Revision 5.03.2.254 STEPLINE/i3.2.255 STOP/i3.2.256 SYSTEM_ERROR/i/iType Program commandSyntax STEPLINE [ "pr

BASIC commandsPROGRAMMING MANUAL 169Revision 5.0/i3.2.257 T_REF/i3.2.258 TABLE/i/iArguments N/A.Example No example.See also N/AType Axis parameterSynt

BASIC commandsPROGRAMMING MANUAL 170Revision 5.0/i3.2.259 TABLEVALUES/i3.2.260 TAN/i3.2.261 THENSee IF..THEN..ELSE..ENDIF.3.2.262 TICKS/i102 250103 37

BASIC commandsPROGRAMMING MANUAL 171Revision 5.03.2.263 TIME/i3.2.264 TIME$/i3.2.265 TOSee FOR..TO..STEP..NEXT.3.2.266 TRANS_DPOS/i3.2.267 TRIGGER/iEx

BASIC commandsPROGRAMMING MANUAL 172Revision 5.03.2.268 TROFF/i3.2.269 TRON/i3.2.270 TRUE/i3.2.271 TSIZE/iDescription The TRIGGER command starts a pre

BASIC commandsPROGRAMMING MANUAL 173Revision 5.03.2.272 UNITS/i3.2.273 UNLOCKSee LOCK.3.2.274 UNTILSee REPEAT..UNTIL.3.2.275 VERIFY/i3.2.276 VERSION/i

Trajexia systemPROGRAMMING MANUAL 12Revision 5.02.4 Motion executionEvery task on the TJ1-MC__ has a set of buffers that holds the information from th

BASIC commandsPROGRAMMING MANUAL 174Revision 5.03.2.277 VFF_GAIN/i3.2.278 VP_SPEED/i3.2.279 VR/iArguments N/AExample >> PRINT VERSION1.6100See a

BASIC commandsPROGRAMMING MANUAL 175Revision 5.03.2.280 VRSTRING/i3.2.281 WA/i3.2.282 WAIT IDLE/iExample A transfer gantry has 10 put down positions i

BASIC commandsPROGRAMMING MANUAL 176Revision 5.03.2.283 WAIT LOADED/i3.2.284 WAIT UNTIL/iExample MOVE(1000)WAIT IDLEPRINT "Move Done"The pri

BASIC commandsPROGRAMMING MANUAL 177Revision 5.03.2.285 WDOG/i3.2.286 WHILE..WEND/i3.2.287 XOR/i/iType System parameterSyntax WDOGDescription The WDOG

BASIC commandsPROGRAMMING MANUAL 178Revision 5.0/iArguments • expression1Any valid BASIC expression.• expression2Any valid BASIC expression.Example VR

Communication protocolsPROGRAMMING MANUAL 179Revision 5.04 Communication protocols 4.1 Available interfacesThe Trajexia units have these interfaces to

Communication protocolsPROGRAMMING MANUAL 180Revision 5.04.2.1 Trajexia Studio protocol The Trajexia Studio protocol is used by Trajexia Studio to

Communication protocolsPROGRAMMING MANUAL 181Revision 5.0The TJ1-MC__ responds with these codes:/iIf var_type is 82 or B0, and the response code is 00

Communication protocolsPROGRAMMING MANUAL 182Revision 5.0/i4.2.3 FINS client protocolTrajexia can initiate the FINS communication using the FINS_COMMS

Communication protocolsPROGRAMMING MANUAL 183Revision 5.0Trajexia can exchange data in the holding registers via the ModbusTCP protocol. Trajexia supp

Trajexia systemPROGRAMMING MANUAL 13Revision 5.02.4.2 SequencingOn each servo cycle interrupt (see section 2.6.1), the motion generator examines the N

Communication protocolsPROGRAMMING MANUAL 184Revision 5.0CommandsThese Host Link commands are supported for the Host Link Master protocol:/iType Heade

Communication protocolsPROGRAMMING MANUAL 185Revision 5.0The Host Link Master protocol supports the commands only in single frame. The following table

Communication protocolsPROGRAMMING MANUAL 186Revision 5.0Set upYou need the SETCOM command to set up the serial port of the TJ1-MC__ for the Host Link

Communication protocolsPROGRAMMING MANUAL 187Revision 5.0ExamplesIn these examples we assume this set-up:• A Trajexia system with a TJ1-MC__.• A slave

Communication protocolsPROGRAMMING MANUAL 188Revision 5.04.3.2 Host Link slave If the TJ1-MC__ is the Host Link slave, a Host Link master (for exa

Communication protocolsPROGRAMMING MANUAL 189Revision 5.0Set upYou need the SETCOM command to set up the serial port of the TJ1-MC__ for the Host Link

Communication protocolsPROGRAMMING MANUAL 190Revision 5.04.3.3 User-defined protocol You can implement a user-defined communication protocol with the

Communication protocolsPROGRAMMING MANUAL 191Revision 5.0 PRINT "Received ";count[0];" characters" FOR i=1 TO count IF TA

Communication protocolsPROGRAMMING MANUAL 192Revision 5.0fig. 1 2. Switch on the power to the system. The RUN LED lights. The ERH LED flashes.3. Creat

Communication protocolsPROGRAMMING MANUAL 193Revision 5.0fig. 46. Open the Device Catalogue from the View menu.fig. 57. Click Install GSD Files... Th

PROGRAMMING MANUAL IRevision 5.0NoticeOMRON products are manufactured for use according to proper procedures by a qualified operator and only for the

Trajexia systemPROGRAMMING MANUAL 14Revision 5.0Relevant commandsTrajexia Studio provides several ways of executing, pausing and stopping the programs

Communication protocolsPROGRAMMING MANUAL 194Revision 5.0fig. 610. Double-click the TJ1-PRT slave module in the MyNetwork tree.11. Set the node number

Communication protocolsPROGRAMMING MANUAL 195Revision 5.0fig. 71. Double-click the master module in the MyNetwork tree.2. Set the Station Address and

Communication protocolsPROGRAMMING MANUAL 196Revision 5.0fig. 96. Click the Device Online/Offline (Toggle) toolbar button to go on-line.7. Click the D

Communication protocolsPROGRAMMING MANUAL 197Revision 5.04.5.2 Communication set-upThe TJ1-DRT has two node number selectors. You can use the node num

Communication protocolsPROGRAMMING MANUAL 198Revision 5.0A VR variable can hold a 24-bit number, and it can also hold fragments. The exchange with the

Communication protocolsPROGRAMMING MANUAL 199Revision 5.0fig. 125. Drag and drop the CJ1W-DRM21 to the Network window.fig. 136. Install the EDS file f

Communication protocolsPROGRAMMING MANUAL 200Revision 5.0fig. 148. Register the slave to the master, right click on the #01TJ1-DRT icon.9. Double clic

Communication protocolsPROGRAMMING MANUAL 201Revision 5.04.5.3 Communication Status TJ1-DRT can provide status information to both the TJ1-MC__ and t

Communication protocolsPROGRAMMING MANUAL 202Revision 5.04.6 CANopenCANopen is a networking system based on the CAN (Controller Area Network) serial b

Communication protocolsPROGRAMMING MANUAL 203Revision 5.0fig. 16An example is the configuration given in the figure./iThis results in the following sc

BASIC commandsPROGRAMMING MANUAL 15Revision 5.03 BASIC commands 3.1 CategoriesThis section lists all BASIC commands divided by categories. The categor

Communication protocolsPROGRAMMING MANUAL 204Revision 5.0'----------------------------------------' Add TPDO / RPDO'-------------------

Communication protocolsPROGRAMMING MANUAL 205Revision 5.04.6.3 Communication operationWhen the communication is in progress, specific data can be exch

Communication protocolsPROGRAMMING MANUAL 206Revision 5.04.8 GRT1-ML2 I/O mappingThe GRT1-ML2 SmartSlice I/O Unit is an interface for data exchange be

Communication protocolsPROGRAMMING MANUAL 207Revision 5.0I/O mapping example 1fig. 17With a MECHATROLINK-II network as shown in the figure, the respon

Communication protocolsPROGRAMMING MANUAL 208Revision 5.0I/O mapping example 2fig. 18The configuration of the GRT1-ML2 units in the example above is:G

Communication protocolsPROGRAMMING MANUAL 209Revision 5.0• 10 is the start address of the analog outputs• 0 is the number of analog outputsDepending o

Communication protocolsPROGRAMMING MANUAL 210Revision 5.0where:• unit is the number of the MECHATROLINK-II Master Unit in the Motion Controller system

Communication protocolsPROGRAMMING MANUAL 211Revision 5.0fig. 19The tables above give an example of a mismatch between the registered table and the ac

Examples and tipsPROGRAMMING MANUAL 212Revision 5.05 Examples and tipsThis chapter gives 2 categories of examples and tips:• How-to’s.• Practical exam

Examples and tipsPROGRAMMING MANUAL 213Revision 5.0Example'================================================'THE FIRST PART OF THE PROGRAM&ap

BASIC commandsPROGRAMMING MANUAL 16Revision 5.03.1.2 Axis parameters /iMOVEABS Moves one or more axes at the demand speed, acceleration and decelerati

Examples and tipsPROGRAMMING MANUAL 214Revision 5.0'Stop MECHATROLINK Section'================================================'THIS SEC

Examples and tipsPROGRAMMING MANUAL 215Revision 5.0Speed mode examples fig. 3In this mode the position loop is closed in Trajexia and the Speed loop i

Examples and tipsPROGRAMMING MANUAL 216Revision 5.0Example 1fig. 4Only proportional gain has a set value, the Following Error is proportional to the s

Examples and tipsPROGRAMMING MANUAL 217Revision 5.0Example 2fig. 5The value for rigidity is increased. The error magnitude remains the same but the ri

Examples and tipsPROGRAMMING MANUAL 218Revision 5.0Example 3fig. 6The parameter P_GAIN is increased further. The Following Error decreases proportiona

Examples and tipsPROGRAMMING MANUAL 219Revision 5.0Example 4fig. 7The value of the parameter P_GAIN two times the value in example 1. The Following Er

Examples and tipsPROGRAMMING MANUAL 220Revision 5.0Example 5fig. 8The value of the parameter P_GAIN is set to the value in example 1. The value of VFF

Examples and tipsPROGRAMMING MANUAL 221Revision 5.0Example 6fig. 9With this value of VFF_GAIN the Following Error is proportional to the acceleration,

Examples and tipsPROGRAMMING MANUAL 222Revision 5.0Example 7fig. 10The value of the rigidity is increased from 6 to 8. The overshoot/undershoot is sma

Examples and tipsPROGRAMMING MANUAL 223Revision 5.0Example 8fig. 11Opposite to the P_GAIN, where the higher, the better (the limit is when the mechani

BASIC commandsPROGRAMMING MANUAL 17Revision 5.0FAST_JOG Contains the input number to be used as the fast jog input.FASTDEC Defines ramp to zero decele

Examples and tipsPROGRAMMING MANUAL 224Revision 5.0Position mode examples fig. 12In this mode the position and speed loop are closed in the Servo Dri

Examples and tipsPROGRAMMING MANUAL 225Revision 5.0Example 1fig. 13The Following Error is proportional to the speed. There is a "soft profile&quo

Examples and tipsPROGRAMMING MANUAL 226Revision 5.0Example 2fig. 14The Following Error reduces as the rigidity increases.The parameter values for the

Examples and tipsPROGRAMMING MANUAL 227Revision 5.0Example 3fig. 15With high gain the motor starts to vibrate but the profile is more stable that in M

Examples and tipsPROGRAMMING MANUAL 228Revision 5.0Example 4fig. 16The effect of the Feedforward gain is that the Following Error is reduced and the e

Examples and tipsPROGRAMMING MANUAL 229Revision 5.0Example 5fig. 17With the feedforward set to 100%, the Following Error is very small and proportiona

Examples and tipsPROGRAMMING MANUAL 230Revision 5.0commands that determine the amount of motion are expressed in these user units. This parameter enab

Examples and tipsPROGRAMMING MANUAL 231Revision 5.0fig. 18Parameter Pn202 is the electronic gear ratio denominator (G1). Parameter Pn203 is the electr

Examples and tipsPROGRAMMING MANUAL 232Revision 5.0Example 1fig. 19The mechanical system consists of a simple rotary table. A servo motor with 13-bit

Examples and tipsPROGRAMMING MANUAL 233Revision 5.0We can now rewrite the last equation to:One solution to this equation is:When we consider the third

BASIC commandsPROGRAMMING MANUAL 18Revision 5.03.1.3 Communication commands and parameters /i3.1.4 Constants/i3.1.5 I/O commands, functions and parame

Examples and tipsPROGRAMMING MANUAL 234Revision 5.0This is called unlimited axis and a typical example of it is a turntable shown in fig. 20. It can b

Examples and tipsPROGRAMMING MANUAL 235Revision 5.0To guarantee the correct overflow both in Trajexia and in the Servo Driver, we must set two additio

Examples and tipsPROGRAMMING MANUAL 236Revision 5.0Example 3fig. 21The mechanical system uses a servo motor with an 17-bit absolute encoder. The mecha

Examples and tipsPROGRAMMING MANUAL 237Revision 5.0One solution is:Note that we have not used the pulley radius in the calculation. This is to avoid t

Examples and tipsPROGRAMMING MANUAL 238Revision 5.0Example 4fig. 22The mechanical system uses a servo motor with a 17-bit absolute encoder. The mechan

Examples and tipsPROGRAMMING MANUAL 239Revision 5.0The evident solution is: n = 100 and m = 1224. Or, when we simplify the factors: n = 25 and m = 306

Examples and tipsPROGRAMMING MANUAL 240Revision 5.0Because 217/50 is a number with an infinite number of decimal digits, we can choose the following:T

Examples and tipsPROGRAMMING MANUAL 241Revision 5.0Example 6fig. 24The mechanical system consists of a ball screw. It uses a servo motor with a 17-bit

Examples and tipsPROGRAMMING MANUAL 242Revision 5.05.1.4 Mapping Servo Driver inputs and outputsThe Trajexia controller has got a digital I/O space th

Examples and tipsPROGRAMMING MANUAL 243Revision 5.0MECHATROLINK-II Servo Drivers inputs in the Trajexia I/O spaceWith the BASIC command IN, you can ac

BASIC commandsPROGRAMMING MANUAL 19Revision 5.03.1.6 Mathematical functions and operands /i3.1.7 Program commands /iName Description+ (ADDITION)

Examples and tipsPROGRAMMING MANUAL 244Revision 5.0/iFor the Junma Servo Driver, all input signals are mapped to a fixed location on the CN1 I/O conne

Examples and tipsPROGRAMMING MANUAL 245Revision 5.0/iFor the Accurax G5 Servo Drivers, the CN1 input pins IN1 to IN8 can be allocated to a specific fu

Examples and tipsPROGRAMMING MANUAL 246Revision 5.0Example: We have a Sigma-II and a Junma driver assigned to controller axes 0 and 3. For the Sigma-I

Examples and tipsPROGRAMMING MANUAL 247Revision 5.0system. Basically, this movement is at low speed in some direction until a certain measuring point

Examples and tipsPROGRAMMING MANUAL 248Revision 5.0fig. 25The figure shows a general origin search scenario. This simple origin search sequence has 3

Examples and tipsPROGRAMMING MANUAL 249Revision 5.0fig. 27The figure shows the possible scenarios for absolute origin search plus limit switches. Thes

Examples and tipsPROGRAMMING MANUAL 250Revision 5.0Origin search against limit switchesfig. 28This origin search function is performed by searching fo

Examples and tipsPROGRAMMING MANUAL 251Revision 5.0Origin search against hardware parts blocking movementfig. 30This origin search procedure performs

Examples and tipsPROGRAMMING MANUAL 252Revision 5.0Origin search using encoder reference pulse “Zero Mark”fig. 31This origin search procedure performs

Examples and tipsPROGRAMMING MANUAL 253Revision 5.0Static origin search, forcing a position from an absolute encoderThis origin search procedure sets

BASIC commandsPROGRAMMING MANUAL 20Revision 5.03.1.8 Program control commands /i3.1.9 Slot parameters and modifiers /i3.1.10 System commands and fun

Examples and tipsPROGRAMMING MANUAL 254Revision 5.0The input used for registration is determined by the argument of the REGIST command.fig. 33The dela

Examples and tipsPROGRAMMING MANUAL 255Revision 5.0Registration in the Junma Servo DriverRegistration in the Junma Servo Driver is the same as registr

Examples and tipsPROGRAMMING MANUAL 256Revision 5.0Using registration in application programsThere is one axis command (REGIST), and two axis paramete

Examples and tipsPROGRAMMING MANUAL 257Revision 5.0fig. 34The picture gives the sequence of executing the commands and the registrations of the sample

Examples and tipsPROGRAMMING MANUAL 258Revision 5.03. The position is captured and transmitted to the Trajexia processor.4. Is the captured position i

Examples and tipsPROGRAMMING MANUAL 259Revision 5.0Example: Correcting the position of an axisfig. 37The picture shows the vertical fill and seal mach

Examples and tipsPROGRAMMING MANUAL 260Revision 5.0fig. 38The feeder can work in two modes: without registration mark; and with registration mark. Wor

Examples and tipsPROGRAMMING MANUAL 261Revision 5.0fig. 40The motion profile and its modification due to the registration mark are shown in fig. 39.Th

Examples and tipsPROGRAMMING MANUAL 262Revision 5.0fig. 42The picture shows how the position of the slave axis is corrected using the registration eve

Examples and tipsPROGRAMMING MANUAL 263Revision 5.0change happens. The limitation of manual triggering is that it requires user interaction, which mea

BASIC commandsPROGRAMMING MANUAL 21Revision 5.03.1.11 System parameters /iCLEAR Clears all global variables and the local variables on the current ta

Examples and tipsPROGRAMMING MANUAL 264Revision 5.0where x0 is the position of the master AXIS(0), and x1 is the position of the slave AXIS(1). You ca

Examples and tipsPROGRAMMING MANUAL 265Revision 5.0 TRIGGER PRINT "Triggered" ENDIF WAIT IDLEWENDHALTfig. 44The result i

Examples and tipsPROGRAMMING MANUAL 266Revision 5.0The parameter end_pos, which defines the values in the CAM table, depends on external conditions of

Examples and tipsPROGRAMMING MANUAL 267Revision 5.0loop: IF MOTION_ERROR<>0 THEN HALTGOTO loopfig. 45This programming code causes all the pro

Examples and tipsPROGRAMMING MANUAL 268Revision 5.0fig. 46The result is given in the figure. The red graph clearly shows a discontinuity in the positi

Examples and tipsPROGRAMMING MANUAL 269Revision 5.05.2 Practical examples5.2.1 SHELL programs and Trajexia Studio fig. 47Trajexia Studio helps the us

Examples and tipsPROGRAMMING MANUAL 270Revision 5.0' =3 application running'VR(901) - VR(status_bits) reports next status' Bit0

Examples and tipsPROGRAMMING MANUAL 271Revision 5.0'Omron Auto Generated - Symbols End'Omron Auto Generated - Local Variablesalarm_bit=0i=0

Examples and tipsPROGRAMMING MANUAL 272Revision 5.0 'Evaluates rising edge in RUN, STOP & RESET bits GOSUB sequence 'Checks for

Examples and tipsPROGRAMMING MANUAL 273Revision 5.0 'if no alarm, notify RUN=$99 or BaseBlock=$BB ELSEIF(DRIVE_STATUS AND 8) THEN

BASIC commandsPROGRAMMING MANUAL 22Revision 5.03.1.12 Task commands and parameters /iD_ZONE_MAX Controls the DAC output in conjunction with the Follow

Examples and tipsPROGRAMMING MANUAL 274Revision 5.0 ENDIF ENDIFNEXT i'Reset sequence for AXIS errorDATUM(0)CLEAR_BIT(0,status_bits)&apo

Examples and tipsPROGRAMMING MANUAL 275Revision 5.0'Unit Detection' ML04 UnitIF COMMSTYPE SLOT(0) <> 36 THEN PRINT "Error Comm

Examples and tipsPROGRAMMING MANUAL 276Revision 5.0MECHATROLINK(0,20,$43) 'SJDE-02ANA-OYREGIST(-1)VR(system01)=0i=0res=0WHILE TABLE(i)<>-1

Examples and tipsPROGRAMMING MANUAL 277Revision 5.0IF res=1 THEN IF NOT DRIVE_RESET THEN SET_BIT(0,diag02)ENDIF' Axis ParametersBASE(0) '

Examples and tipsPROGRAMMING MANUAL 278Revision 5.0UNITS=32.0000REP_DIST=360000.0000REP_OPTION=0ERRORMASK=268AXIS_ENABLE=0DRIVE_CONTROL=0SPEED=3600.00

Examples and tipsPROGRAMMING MANUAL 279Revision 5.0'================================================'EXAMPLE OF INITIALIZATION PROGRAM'

Examples and tipsPROGRAMMING MANUAL 280Revision 5.0UNITS=1'Theoretical FE we will have running the motor at "max_speed"'without VF

Examples and tipsPROGRAMMING MANUAL 281Revision 5.0• During stop, the graph of the position is constant.• When an overflow occurs (MPOS>=REP_DIST),

Examples and tipsPROGRAMMING MANUAL 282Revision 5.0fig. 50Examplestart: WAIT UNTIL IN(1)=ON SPEED=10 FORWARD WAIT UNTIL IN(2)=ON prod_p

Examples and tipsPROGRAMMING MANUAL 283Revision 5.0fig. 52Examplenozzle = 8start: FOR x = 0 TO 4 FOR y = 0 TO 4 MOVEABS(x*200, y*

BASIC commandsPROGRAMMING MANUAL 23Revision 5.03.2 All BASIC commands3.2.1 + (Addition)/i3.2.2 - (Subtraction)/i3.2.3 * (Multiplication)/i3.2.4 / (Div

Examples and tipsPROGRAMMING MANUAL 284Revision 5.05.2.6 Bag feeder program fig. 53A bag feeder machine feeds plastic film a fixed distance that is s

Examples and tipsPROGRAMMING MANUAL 285Revision 5.0Examplefig. 54'================================================'BAG FEEDER program'=

Examples and tipsPROGRAMMING MANUAL 286Revision 5.0 WAIT UNTIL IN(start_signal)=0 WAIT UNTIL IN(start_signal)=1 'Move bag length MOVE

Examples and tipsPROGRAMMING MANUAL 287Revision 5.0fig. 55Examplestart: GOSUB filltable WDOG=1 'Set servos to RUN BASE(1) SERVO=1 &ap

Examples and tipsPROGRAMMING MANUAL 288Revision 5.0 'Fill the TABLE with the suitable waveform FOR i= in_tbl TO end_tbl TABLE(i,(k*(

Examples and tipsPROGRAMMING MANUAL 289Revision 5.0Examplefig. 57'================================================='FLYING SHEAR program&apo

Examples and tipsPROGRAMMING MANUAL 290Revision 5.0MOVELINK(0,wait_distance,0,0,line_axis) AXIS(flying_axis)WAIT UNTIL MTYPE AXIS(flying_axis)=22&apos

Examples and tipsPROGRAMMING MANUAL 291Revision 5.0GOTO loopfig. 58The speed-time graph shows the steps of the above example. The steps are:1. The ini

Examples and tipsPROGRAMMING MANUAL 292Revision 5.0The difference between the expected position and the actual position is measured with a photocell.

TroubleshootingPROGRAMMING MANUAL 293Revision 5.06 Troubleshooting6.1 Voltage and analysis toolsCheck the voltage to the power supply input terminals.

PROGRAMMING MANUAL IIRevision 5.0About this manualThis manual describes the installation and operation of the Trajexia Motion Control System.Please re

BASIC commandsPROGRAMMING MANUAL 24Revision 5.03.2.5 ^ (Power)/i3.2.6 = (Is equal to)/i3.2.7 = (Assignment)/i3.2.8 <> (Is not equal to)/iType Ma

TroubleshootingPROGRAMMING MANUAL 294Revision 5.0/iIncorrect or out of range axis parameter valueIf the value of an axis parameter is incorrect or out

TroubleshootingPROGRAMMING MANUAL 295Revision 5.0To see the current setting, type PRINT COORDINATOR_DATA(7) in the Trajexia Tools terminal window.To c

TroubleshootingPROGRAMMING MANUAL 296Revision 5.06.3 TJ1-PRT6.3.1 System errors/i6.3.2 I/O data communication problems/iIndication Problem SolutionNo

TroubleshootingPROGRAMMING MANUAL 297Revision 5.06.4 TJ1-DRT6.4.1 System errors/i6.4.2 I/O data communication problems/i6.5 TJ1-CORT6.5.1 System error

TroubleshootingPROGRAMMING MANUAL 298Revision 5.06.5.2 I/O data communication problems/i6.6 TJ1-ML__6.6.1 System errors/i6.6.2 Bus errors/i6.7 GRT1-ML

TroubleshootingPROGRAMMING MANUAL 299Revision 5.0TJ1-MC__. After a short time, the I/O Unit reports its (real) correct status and the status word beco

TroubleshootingPROGRAMMING MANUAL 300Revision 5.0/i6.7.4 SmartSlice I/O errors/iRUN ALARM Probable cause CorrectionNot Lit Not lit Initialization in p

TroubleshootingPROGRAMMING MANUAL 301Revision 5.06.7.5 MECHATROLINK-II initialization errorsIf the GRT1-ML2 configuration contains non-supported Smart

GRT1-ML2 timingPROGRAMMING MANUAL 302Revision 5.0A GRT1-ML2 timingThis appendix describes the I/O timing issues for the communication between the TJ1-

GRT1-ML2 timingPROGRAMMING MANUAL 303Revision 5.0fig. 1These refresh cycles are independent, they are not synchronized. Therefore a small delay in the

BASIC commandsPROGRAMMING MANUAL 25Revision 5.03.2.9 > (Is greater than)/i3.2.10 >= (Is greater than or equal to)/i3.2.11 < (Is less than)/i3

GRT1-ML2 timingPROGRAMMING MANUAL 304Revision 5.0ExamplesThe following time variable and other variable definitions are used:/iVariable DefinitionTONT

GRT1-ML2 timingPROGRAMMING MANUAL 305Revision 5.0fig. 2The following SmartSlice I/O Units, which are used in the examples, have the following ON/OFF d

GRT1-ML2 timingPROGRAMMING MANUAL 306Revision 5.0Example 1Setup of the SmartSlice I/O system: GRT1-ID4 − GRT1-OD4.TSL = 0.66 + 4 × 0.009 + 4 × 0.001 =

Revision historyPROGRAMMING MANUAL 307Revision 5.0Revision historyA manual revision code shows as a suffix to the catalogue number on the front cover

Trajexia motion control systemTJ1-MC04TJ1-MC16PROGRAMMING MANUALCat. No. I52E-EN-04Austria Tel: + ()   www.omron.at Belgium Tel: + ()

BASIC commandsPROGRAMMING MANUAL 26Revision 5.03.2.13 $ (Hexadecimal input)/i3.2.14 ' (Comment field)/i3.2.15 : (Statement separator)/i3.2.16 #/i

BASIC commandsPROGRAMMING MANUAL 27Revision 5.03.2.17 ABS/i3.2.18 ACC/i3.2.19 ACCEL/i3.2.20 ACOS/iType Mathematical functionSyntax ABS(expression)Desc

BASIC commandsPROGRAMMING MANUAL 28Revision 5.03.2.21 ADD_DAC/ifig. 1/iType Axis commandSyntax ADD_DAC(axis)+_SERVO = OFFSERVO = ON Final speed refere

BASIC commandsPROGRAMMING MANUAL 29Revision 5.03.2.22 ADDAX/iType Axis commandSyntax ADDAX(axis)Description The ADDAX command is used to superimpose t

BASIC commandsPROGRAMMING MANUAL 30Revision 5.0fig. 2/iExample UNITS AXIS(0)=1000UNITS AXIS(1)=20' Superimpose axis 1 on axis 0ADDAX(1) AXIS(0)MO

BASIC commandsPROGRAMMING MANUAL 31Revision 5.0fig. 3/iMOTORAXIS 0ENCODERAXIS 2R AXIS 0Example Pieces are placed randomly onto a belt that moves conti

BASIC commandsPROGRAMMING MANUAL 32Revision 5.0fig. 4/iR AXIS 0AXIS 0AXIS 1ENCODERAXIS 2Example An X-Y marking machine must mark boxes as they move al

BASIC commandsPROGRAMMING MANUAL 33Revision 5.03.2.23 ADDAX_AXIS/i3.2.24 AIN/i3.2.25 ALL/iType Axis parameter (read-only)Syntax ADDAX_AXISDescription

PROGRAMMING MANUAL IIIRevision 5.0Functions supported by unit versionsDuring the development of Trajexia new functionality was added to the controller

BASIC commandsPROGRAMMING MANUAL 34Revision 5.03.2.26 AND/i3.2.27 AOUT/i3.2.28 ASIN/i3.2.29 ATAN/iType Mathematical operationSyntax expression1 AND ex

BASIC commandsPROGRAMMING MANUAL 35Revision 5.03.2.30 ATAN2/i3.2.31 ATYPE/i/i/i3.2.32 AUTORUN/iArguments • expressionAny valid BASIC expression.Exampl

BASIC commandsPROGRAMMING MANUAL 36Revision 5.03.2.33 AXIS/i3.2.34 AXIS_DISPLAY/i/i/i3.2.35 AXIS_ENABLE/iDescription The AUTORUN command starts all th

BASIC commandsPROGRAMMING MANUAL 37Revision 5.03.2.36 AXISSTATUS/i/i/i3.2.37 B_SPLINE/iDescription The AXIS_ENABLE axis parameter is used to enable or

BASIC commandsPROGRAMMING MANUAL 38Revision 5.03.2.38 BACKLASH/i3.2.39 BACKLASH_DIST/iArguments • typeReserved for future expansion. Always set this t

BASIC commandsPROGRAMMING MANUAL 39Revision 5.03.2.40 BASE/i3.2.41 BASICERROR/iType Axis commandSyntax BASEBASE(axis_1 [ ,axis_2 [ , axis_3 [ , axis_4

BASIC commandsPROGRAMMING MANUAL 40Revision 5.03.2.42 BATTERY_LOW/i3.2.43 BREAK_RESET/iDescription The BASICERROR command can be used to run a routine

BASIC commandsPROGRAMMING MANUAL 41Revision 5.03.2.44 CAM/iType Axis commandSyntax CAM(start_point, end_point, table_multiplier, distance)Description

BASIC commandsPROGRAMMING MANUAL 42Revision 5.0fig. 5/i/iExample Motion is required to follow the POSITION equation:t(x) = x*25 + 10000(1-cos(x)), whe

BASIC commandsPROGRAMMING MANUAL 43Revision 5.014 260 1823615 280 1526316 300 1250017 320 1034018 340 910319 360 9000TABLE position Degree Value

ContentsPROGRAMMING MANUAL IVRevision 5.01 Safety warnings and precautions...

BASIC commandsPROGRAMMING MANUAL 44Revision 5.0fig. 6/iLASERMOTOROP(15)TRIGGERExample A masked wheel is used to create a stencil for a laser to shine

BASIC commandsPROGRAMMING MANUAL 45Revision 5.03.2.45 CAMBOX/iExample A suction pick and place system must vary its speed depending on the load carrie

BASIC commandsPROGRAMMING MANUAL 46Revision 5.0/i/iArguments • start_pointThe address of the first element in the TABLE array to be used.• end_pointTh

BASIC commandsPROGRAMMING MANUAL 47Revision 5.0fig. 7/ifig. 8Example ' Subroutine to generate a SIN shape speed profile' Uses: p is loop cou

BASIC commandsPROGRAMMING MANUAL 48Revision 5.0fig. 9/iMOTORAXIS 0Example A pair of rollers feeds plastic film into a machine. The feed is synchronise

BASIC commandsPROGRAMMING MANUAL 49Revision 5.0fig. 10/iExample A motor on Axis 0 is required to emulate a rotating mechanical CAM. The position is li

BASIC commandsPROGRAMMING MANUAL 50Revision 5.0/i/i• SHAPE BLOCK: This is directly pointed to by the CAMBOX command as in any CAMBOX.• CONTROL BLOCK:

BASIC commandsPROGRAMMING MANUAL 51Revision 5.0fig. 11/iAXIS 1AXIS 0Example A quilt stitching machine runs a feed cycle that stitches a plain pattern

BASIC commandsPROGRAMMING MANUAL 52Revision 5.03.2.46 CAN_CORT/iType System commandSyntax CAN_CORT(unit,4,0)Retrieves the unit status. See the table i

BASIC commandsPROGRAMMING MANUAL 53Revision 5.03.2.47 CANCEL/i• modeThe CANopen network operation mode. 0 = pre-operational, 1 = opera-tional.• VR_add

ContentsPROGRAMMING MANUAL VRevision 5.06 Troubleshooting...

BASIC commandsPROGRAMMING MANUAL 54Revision 5.0fig. 12/ifig. 13/iExample FORWARDWA(10000)CANCEL ' Stop movement after 10 secondsExample MOVE(100

BASIC commandsPROGRAMMING MANUAL 55Revision 5.03.2.48 CHECKSUM/i3.2.49 CHR/i3.2.50 CLEAR/i3.2.51 CLEAR_BIT/iType System parameter (read-only)Syntax CH

BASIC commandsPROGRAMMING MANUAL 56Revision 5.03.2.52 CLEAR_PARAMS/i3.2.53 CLOSE_WIN/i3.2.54 CLUTCH_RATE/i3.2.55 COMMSERROR/i/iType System commandSynt

BASIC commandsPROGRAMMING MANUAL 57Revision 5.0/i3.2.56 COMMSTYPE/i/i/i3.2.57 COMPILE/i3.2.58 CONNECT/iArguments N/AExample No example.See also N/ATyp

BASIC commandsPROGRAMMING MANUAL 58Revision 5.0fig. 14/ifig. 15/iCONNECT (1,1) CONNECT (0.5,1) CONNECT (2,1)Arguments • ratioThe connection ratio of t

BASIC commandsPROGRAMMING MANUAL 59Revision 5.0fig. 16/iExample Axis 0 is required to run a continuous forward. Axis 1 must connect to axis 0. If CONN

BASIC commandsPROGRAMMING MANUAL 60Revision 5.03.2.59 CONSTANT/i3.2.60 CONTROL/i3.2.61 COPY/i3.2.62 COS/iType System commandSyntax CONSTANT "name

BASIC commandsPROGRAMMING MANUAL 61Revision 5.03.2.63 CREEP/i3.2.64 D_GAIN/i3.2.65 D_ZONE_MAX/iArguments • expressionAny valid BASIC expression.Exampl

BASIC commandsPROGRAMMING MANUAL 62Revision 5.03.2.66 D_ZONE_MIN/i3.2.67 DACSee S_REF.3.2.68 DAC_OUTSee S_REF_OUT.3.2.69 DAC_SCALE/i3.2.70 DATE/iSee a

BASIC commandsPROGRAMMING MANUAL 63Revision 5.03.2.71 DATE$/i3.2.72 DATUM/i/iSee also N/AType System commandSyntax DATE$Description Prints the current

Safety warnings and precautionsPROGRAMMING MANUAL 1Revision 5.01 Safety warnings and precautions1.1 Intended audienceThis manual is intended for perso

BASIC commandsPROGRAMMING MANUAL 64Revision 5.0fig. 17/i6 The axis moves at demand speed reverse until the datum switch is reached. The axis then move

BASIC commandsPROGRAMMING MANUAL 65Revision 5.0fig. 18/ifig. 19/iExample The position of an axis must be defined by the Z marker. This position must b

BASIC commandsPROGRAMMING MANUAL 66Revision 5.0fig. 20/i3.2.73 DATUM_IN/iExample A machine similar to the machine in the example above must locate a h

BASIC commandsPROGRAMMING MANUAL 67Revision 5.03.2.74 DAY/i3.2.75 DAY$/i3.2.76 DECEL/i3.2.77 DEFPOS/iExample DATUM_IN AXIS(0)=5See also AXIS, DATUM.Ty

BASIC commandsPROGRAMMING MANUAL 68Revision 5.0fig. 21/iExample After 2 axes returned to their homing positions, it is required to change the DPOS val

BASIC commandsPROGRAMMING MANUAL 69Revision 5.0fig. 22/ifig. 23/iExample Set the axis position to 10, then start an absolute move, but make sure theax

BASIC commandsPROGRAMMING MANUAL 70Revision 5.03.2.78 DEL/i3.2.79 DEMAND_EDGES/i3.2.80 DEVICENET/i/iType Program commandSyntax DEL [program_name]RM [p

BASIC commandsPROGRAMMING MANUAL 71Revision 5.0/i3.2.81 DIR/i3.2.82 DISABLE_GROUP/i10 0 No node address duplication error1 Node address duplication er

BASIC commandsPROGRAMMING MANUAL 72Revision 5.0fig. 24/iAXIS 1AXIS 0Example Two conveyors operated by the same Motion Coordinator are required to run

BASIC commandsPROGRAMMING MANUAL 73Revision 5.03.2.83 DISPLAY/i/i/i3.2.84 DPOS/i DATUM(0) ' clear motion error on axis 0 WA(10) AXIS_ENABLE=ON

Safety warnings and precautionsPROGRAMMING MANUAL 2Revision 5.01.4 Operating environment precautionsWARNINGThe TJ1 will turn off the WDOG when its sel

BASIC commandsPROGRAMMING MANUAL 74Revision 5.03.2.85 DRIVE_ALARM/i3.2.86 DRIVE_CLEAR/iDescription The DPOS axis parameter contains the demand positio

BASIC commandsPROGRAMMING MANUAL 75Revision 5.03.2.87 DRIVE_CONTROL/i/i/i3.2.88 DRIVE_INPUTS/i/iType Axis parameterSyntax DRIVE_CONTROLDescription Whe

BASIC commandsPROGRAMMING MANUAL 76Revision 5.0/i3.2.89 DRIVE_MONITOR/i3.2.90 DRIVE_READ/i13 IO13 IO13 Not used NCL General input 13 (Sigma-II and Sig

BASIC commandsPROGRAMMING MANUAL 77Revision 5.03.2.91 DRIVE_RESET/i3.2.92 DRIVE_STATUS/i/iArguments • parameterThe number of the parameter to be read.

BASIC commandsPROGRAMMING MANUAL 78Revision 5.0/i/i/i3.2.93 DRIVE_WRITE/i9 Torque Limit10 Latch Completed11 In Range/Speed LimitFor Flexible Axis axes

BASIC commandsPROGRAMMING MANUAL 79Revision 5.03.2.94 EDIT/i3.2.95 ELSESee IF..THEN..ELSE..ENDIF.3.2.96 ELSEIFSee IF..THEN..ELSE..ENDIF.3.2.97 ENCODER

BASIC commandsPROGRAMMING MANUAL 80Revision 5.03.2.99 ENCODER_CONTROL/i3.2.100 ENCODER_ID/i3.2.101 ENCODER_RATIO/iExample ENCODER_BITS = 25 + (256 * 1

BASIC commandsPROGRAMMING MANUAL 81Revision 5.03.2.102 ENCODER_STATUS/i3.2.103 ENCODER_TURNS/i3.2.104 ENDIFSee IF..THEN..ELSE..ENDIF.3.2.105 ENDMOVE/i

BASIC commandsPROGRAMMING MANUAL 82Revision 5.03.2.106 EPROM/i/i3.2.107 ERROR_AXIS/i3.2.108 ERROR_LINE/i3.2.109 ERRORMASK/iArguments N/AExample No exa

BASIC commandsPROGRAMMING MANUAL 83Revision 5.03.2.110 ETHERNET/i3.2.111 EX/iDescription The ERRORMASK axis parameter contains a mask value that is AN

Safety warnings and precautionsPROGRAMMING MANUAL 3Revision 5.01.5 Application precautionsCautionThe operating environment of the TJ1 System can have

BASIC commandsPROGRAMMING MANUAL 84Revision 5.03.2.112 EXP/i3.2.113 FALSE/i3.2.114 FAST_JOG/i3.2.115 FASTDEC/i3.2.116 FE/iSee also N/AType Mathematica

BASIC commandsPROGRAMMING MANUAL 85Revision 5.03.2.117 FE_LATCH/i3.2.118 FE_LIMIT/i3.2.119 FE_LIMIT_MODE/i3.2.120 FE_RANGE/iDescription The FE axis pa

BASIC commandsPROGRAMMING MANUAL 86Revision 5.03.2.121 FHOLD_IN/i3.2.122 FHSPEED/iType Axis parameterSyntax FHOLD_INFH_INDescription The FHOLD_IN axis

BASIC commandsPROGRAMMING MANUAL 87Revision 5.03.2.123 FINS_COMMS/iType Communication commandSyntax FINS_COMMS(type, network, node, unit, remote_area,

BASIC commandsPROGRAMMING MANUAL 88Revision 5.03.2.124 FLAG/i3.2.125 FLAGS/i/i• local_offsetThe offset of the first value in the local (source) memory

BASIC commandsPROGRAMMING MANUAL 89Revision 5.0/i3.2.126 FOR..TO..STEP..NEXT/i5326647128Example FLAGS(146) ' 2 + 16 + 128Set Flags 1,4 and 7 on,

BASIC commandsPROGRAMMING MANUAL 90Revision 5.03.2.127 FORWARD/ifig. 25/iType Axis commandSyntax FORWARDFODescription The FORWARD command moves an axi

BASIC commandsPROGRAMMING MANUAL 91Revision 5.0fig. 26/iIN(7)NCAXIS 3Example Move an axis forward until it hits the end limit switch, then move it in

BASIC commandsPROGRAMMING MANUAL 92Revision 5.03.2.128 FPGA_VERSION/i3.2.129 FRAC/i3.2.130 FRAME/i3.2.131 FREE/iType Slot parameterSyntax FPGA_VERSION

BASIC commandsPROGRAMMING MANUAL 93Revision 5.03.2.132 FS_LIMIT/i3.2.133 FWD_IN/i3.2.134 FWD_JOG/iType Axis parameterSyntax FS_LIMITFSLIMITDescription