Omron TJ2-MC02 Hardware Reference Manual page 271

Hardware reference
3.13.6 Applicable BASIC commands
The following BASIC commands are applicable for the TJ2-KS02:
• ATYPE
• AXIS_OFFSET
• UNIT_INIT
• DRIVE_READ
• DRIVE_WRITE
• DRIVE_CONTROL
• DRIVE_MONITOR
• DRIVE_STATUS
• DRIVE_ALARM
• REGIST
BASIC commands applicable for specific encoder types, are listed with the
corresponding explanations in the next chapters. For more information of
BASIC commands, refer to the Trajexia Programming Manual.
3.13.7 Axes allocation
The axis numbers for the (up to) 3 axes will be assigned automatically,
according the following rules:
• Upper G5 interface (CN1): AXIS_OFFSET
• Lower G5 interface (CN2): AXIS_OFFSET+1
• Encoder interface (CN4): AXIS_OFFSET+2
In case no Servo drive is attached or the Servo Drive is not powered, then
the axis will be a virtual axis (ATYPE=0). When a Servo Drive is attached or
powered on after startup of the TJ2-MC__, the communication with the
Servo Drive can be (re-)started using the UNIT_INIT(unit_number). The
virtual axis will then be changed to the default ATYPE for this type of axis
(ATYPE=80).
Axis numbers of additional TJ2-KS02 units will continue with the next
available axis number or from AXIS_OFFSET if bigger.
HARDWARE REFERENCE MANUAL 265