Trajexia Hardware; This Manual; Multitasking Basic Programming - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

Trajexia system
2.1.1

Trajexia hardware

The Trajexia hardware is described in the Trajexia Hardware Reference
manual. It is recommend to read the Hardware Reference manual first.
The Trajexia system gives these advantages:
Direct connectivity via Ethernet
Trajexia's Ethernet built-in port provides direct and fast connectivity to PCs,
PLCs, HMIs and other devices while providing full access to the drives over
a MECHATROLINK-II motion bus. It allows explicit messaging over Ethernet
and through MECHATROLINK-II to provide full transparency down to the
actuator level, and making remote access possible.
Keep your know-how safe
Trajexia's encryption method guarantees complete protection and
confidentiality for your valuable know-how.
Serial Port and Local I/Os
A serial port provides direct connectivity with any OMRON PLC, HMIs or any
other field device. 16 Inputs and 8 outputs are freely configurable embedded
I/Os in the controller to enable you to tailor Trajexia to your machine design.
MECHATROLINK-II Master
The MECHATROLINK-II master performs control of up to 16 servos,
inverters or I/Os while allowing complete transparency across the whole
system.MECHATROLINK-II offers the communication speed and time
accuracy essential to guarantee perfect motion control of servos. The
motion cycle time is selectable between 0.5 ms, 1 ms or 2 ms.
TJ1-FL02 (Flexible Axis Unit)
The TJ1-FL02 allows full control of two actuators via an analogue output or
pulse train. The module supports the main absolute encoder protocols
allowing the connection of an external encoder to the system.
PROGRAMMING MANUAL
Drives and Inverters
A wide choice of rotary, linear and direct-drive servos as well as inverters are
available to fit your needs in compactness, performance and reliability. The
inverters connected to the MECHATROLINK-II are driven at the same
update cycle time as the servo drives.
Remote I/Os
The I/Os on the MECHATROLINK-II motion bus provide for system
expansion while keeping the devices under one motion bus.
PROFIBUS-DP
The PROFIBUS-DP slave allows connectivity to the PROFIBUS network in
your machine.
DeviceNet
The DeviceNet slave allows connectivity to the DeviceNet network in your
machine.
2.1.2

This manual

This Programming Manual gives the dedicated information for:
• The description and use of the BASIC commands
• The communication protocols necessary for the Trajexia system
• The use and description of the parts of the Trajexia Tools interface
• Program examples and good programming practices
• Troubleshooting and fault finding.
2.2

Multitasking BASIC programming

The TJ1-MC__ units (Motion Controller Unit) feature a multitasking version
of the BASIC programming language. The motion control language is largely
based upon a tokenised BASIC and the programs are compiled into the
tokenised form prior to their execution.
23