Safety warnings and precautions.............................................................................................................................................................. 16

1.1

Intended audience ..........................................................................................................................................................................................................................16

1.2

General precautions .......................................................................................................................................................................................................................16

1.3

Safety precautions .........................................................................................................................................................................................................................16

1.4

Operating environment precautions................................................................................................................................................................................................17

1.5

Application precautions...................................................................................................................................................................................................................18

1.6

Unit assembly precautions..............................................................................................................................................................................................................21

Trajexia system .......................................................................................................................................................................................... 22

2.1

Introduction .....................................................................................................................................................................................................................................22

2.1.1

Trajexia hardware ............................................................................................................................................................................................................23

2.1.2

This manual ......................................................................................................................................................................................................................23

2.2

Multitasking BASIC programming ...................................................................................................................................................................................................23

2.3

BASIC programming.......................................................................................................................................................................................................................24

2.3.1

Axis, system and task statements ....................................................................................................................................................................................24

2.3.2

Memory areas...................................................................................................................................................................................................................24

2.3.3

Data structures and variables...........................................................................................................................................................................................25

2.3.4

Mathematical specifications..............................................................................................................................................................................................27

2.4

Motion execution.............................................................................................................................................................................................................................28

2.4.1

Motion generator ..............................................................................................................................................................................................................28

2.4.2

Sequencing.......................................................................................................................................................................................................................29

2.4.3

Move loading ....................................................................................................................................................................................................................29

2.5

Command line interface ..................................................................................................................................................................................................................30

2.6

BASIC programs.............................................................................................................................................................................................................................30

2.6.1

Managing programs..........................................................................................................................................................................................................30

2.6.2

Program compilation.........................................................................................................................................................................................................31

2.6.3

Program execution ...........................................................................................................................................................................................................31

BASIC commands ...................................................................................................................................................................................... 33

3.1

Categories ......................................................................................................................................................................................................................................33

3.1.1

Axis commands ...............................................................................................................................................................................................................33

3.1.2

Axis parameters ...............................................................................................................................................................................................................34

3.1.3

Communication commands and parameters ...................................................................................................................................................................36

3.1.4

Constants .........................................................................................................................................................................................................................36

3.1.5

I/O commands, functions and parameters ......................................................................................................................................................................36

3.1.6

Mathematical functions and operands

3.1.7

Program commands ........................................................................................................................................................................................................37

3.1.8

Program control commands ............................................................................................................................................................................................38

3.1.9

Slot parameters and modifiers ........................................................................................................................................................................................38

3.1.10

System commands and functions ..................................................................................................................................................................................38

PROGRAMMING MANUAL

.........................................................................................................................................................................37