Omron TJ1-MC04 1 Manuals

Manuals and User Guides for Omron TJ1-MC04 1. We have 1 Omron TJ1-MC04 1 manual available for free PDF download: Programming Manual

OMRON TJ1-MC04 1 Programming Manual

OMRON TJ1-MC04 1 Programming Manual (312 pages)

Brand: OMRON | Category: Controller | Size: 13.94 MB

Table of Contents

Sibp-C730600
3
Table of Contents
5
1 Safety Warnings and Precautions

16
- Intended Audience
  16
- General Precautions
  16
- Safety Precautions
  16
- Operating Environment Precautions
  17
- Application Precautions
  18
- Unit Assembly Precautions
  21
2 Trajexia System

22
- Introduction
  22
  - Trajexia Hardware
    23
  - This Manual
    23
- Multitasking BASIC Programming
  23
- BASIC Programming
  24
  - Axis, System and Task Statements
    24
  - Memory Areas
    24
  - Data Structures and Variables
    25
  - Mathematical Specifications
    27
- Motion Execution
  28
  - Motion Generator
    28
  - Sequencing
    29
  - Move Loading
    29
- Command Line Interface
  30
- BASIC Programs
  30
  - Managing Programs
    30
  - Program Compilation
    31
  - Program Execution
    31
3 BASIC Commands

33
- Categories
  33
  - Axis Commands
    33
  - Axis Parameters
    34
  - Communication Commands and Parameters
    36
  - Constants
    36
  - I/O Commands, Functions and Parameters
    36
  - Mathematical Functions and Operands
    37
  - Program Commands
    37
  - Program Control Commands
    38
  - Slot Parameters and Modifiers
    38
  - System Commands and Functions
    38
  - System Parameters
    39
  - Task Commands and Parameters
    40
- All BASIC Commands
  41
  - Addition)
    41
  - (Subtraction)
    41
  - Multiplication)
    41
  - (Division)
    41
  - Power)
    42
  - (Is Equal To)
    42
  - (Assignment)
    42
  - (Is Not Equal To)
    42
  - (Is Greater Than)
    43
  - (Is Greater than or Equal To)
    43
  - (Is Less Than)
    43
  - (Is Less than or Equal To)
    43
  - (Hexadecimal Input)
    44
  - (Comment Field)
    44
  - (Statement Separator)
    44
  - Abs
    45
  - Acc
    45
  - Accel
    45
  - Acos
    45
  - Add_Dac
    46
  - Addax
    46
  - Addax_Axis
    47
  - Ain
    47
  - And
    47
  - Aout
    48
  - Asin
    48
  - Atan
    48
  - Atan2
    48
  - Atype
    49
  - Autorun
    49
  - Axis
    49
  - Axis_Display
    50
  - Axis_Enable
    50
  - Axisstatus
    50
  - B_Spline
    51
  - Base
    51
- Basicerror
  52
  - Battery_Low
    53
- Break_Reset
  53
- Cam
  53
- Cancel
  56
  - Checksum
    56
  - Chr
    56
  - Clear
    57
- Clear_Bit
  57
- Clear_Params
  57
- Close_Win
  57
- Clutch_Rate
  57
- Commserror
  58
- Compile
  58
  - Connect
    59
- Control
  59
  - Copy
    60
- Cos
  60
- Creep = 10
  60
  - D_Gain
    60
  - D_Zone_Max
    61
- D_Zone_Min
  61
- Dac_Out
  61
- Dac_Scale
  61
- Date
  62
- Datum
  62
- Datum_In
  63
- Day
  64
- Decel
  64
- Del
  65
- Demand_Edges
  65
- Devicenet
  66
  - Dir
    67
- Disable_Group
  67
- Display
  67
- Dpos
  68
- Drive_Alarm
  68
- Drive_Clear
  69
- Drive_Control
  69
- Drive_Inputs
  70
- Drive_Monitor
  70
- Drive_Read
  71
- Drive_Reset
  71
- Drive_Status
  72
- Drive_Write
  73
- Edit
  73
- Else
  73
- Elseif
  73
- Encoder
  74
- Encoder_Bits
  74
- Encoder_Control
  74
- Encoder_Id
  75
- Encoder_Ratio
  75
- Encoder_Read
  75
- Encoder_Status
  76
- Encoder_Turns
  76
- Encoder_Write
  76
- Endif
  76
- Endmove
  77
- Eprom
  77
- Error_Axis
  77
- Error_Line
  77
- Errormask
  78
- Ethernet
  78
- Exp
  79
- False
  79
- Fast_Jog
  79
- Fastdec
  80
- Fe_Latch
  80
- Fe_Limit
  80
- Fe_Limit_Mode
  81
- Fe_Range
  81
- Fhold_In
  81
- Fhspeed
  82
- Fins_Comms
  82
- Flag
  84
- Flags
  84
- For
  85
- Forward
  86
- Fpga_Version
  86
- Frac
  86
- Frame
  86
- Free
  87
- Fslimit
  87
- Fwd_In
  87
- Fwd_Jog
  88
- Get
  88
- Global
  89
- Gosub
  89
- Goto
  89
- Halt
  90
- Hex
  90
- Hlm_Command
  90
- Hlm_Read
  91
- Hlm_Status
  92
- Hlm_Timeout
  93
- Hlm_Write
  94
- Hls_Node
  95
- Hw_Pswitch
  95
- I_Gain
  96
- Idle
  96
- Ieee_In
  96
- Ieee_Out
  96
- If..then..else..endif
  97
- Indevice
  98
- Initialise
  98
- Input
  99
- Int
  99
- Invert_In
  99
- Invert_Step
  100
- Inverter_Command
  100
- Inverter_Read
  101
- Inverter_Write
  102
- Jogspeed
  103
- Key
  103
- Last_Axis
  104
- Linkax
  104
- Linput
  104
- List
  105
- List_Global
  105
- Lock
  106
- Mark
  106
- Markb
  107
- Mechatrolink
  107
- Merge
  108
- Mhelical
  109
- Mod
  109
- Motion_Error
  109
- Move
  110
- Moveabs
  111
- Movecirc
  112
- Movelink
  114
- Movemodify
  115
- Mpos
  116
- Mspeed
  116
- Mtype
  116
- Naio
  117
- Neg_Offset
  117
- New
  117
- Next
  117
- Nio
  117
- Not
  118
- Ntype
  118
- Off
  118
- Offpos
  118
- On.. Gosub
  119
- On.. Goto
  119
- Open_Win
  120
- Outdevice
  121
- Outlimit
  121
- Ov_Gain
  121
- P_Gain
  122
- Pmove
  122
- Pos_Offset
  123
- Power_Up
  123
- Print
  123
- Proc
  124
- Proc_Status
  124
- Process
  125
- Procnumber
  125
- Profibus
  125
- Pswitch
  126
- Rapidstop
  127
- Read_Bit
  127
- Reg_Pos
  128
- Reg_Posb
  128
- Regist
  128
- Remain
  130
- Remote_Error
  130
- Rename
  130
- Rep_Dist
  131
- Rep_Option
  131
- Repeat
  131
- Reset
  132
- Return
  132
- Rev_In
  132
- Rev_Jog
  133
- Reverse
  133
- Rslimit
  133
- Run
  133
- Run_Error
  134
- Runtype
  134
- S_Ref
  135
- S_Ref_Out
  135
- Scope
  136
- Scope_Pos
  137
- Select
  137
- Servo
  137
- Servo_Period
  137
- Set_Bit
  138
- Setcom
  138
- Sgn
  139
- Sin
  139
- Slot
  139
- Speed
  139
- Sqr
  140
- Sramp
  140
- Step
  140
- Step_Ratio
  140
- Stepline
  141
- Stop
  141
- System_Error
  142
- T_Ref
  142
- Table
  143
- Tablevalues
  143
- Tan
  144
- Then
  144
- Ticks
  144
- Time
  144
- Time
  145
- Trans_Dpos
  145
- Trigger
  145
- Troff
  145
- Tron
  146
- True
  146
- Tsize
  146
- Units
  147
- Unlock
  147
- Until
  147
- Verify
  147
- Version
  147
- Vff_Gain
  148
- Vp_Speed
  148
  - Vrstring
    149
  - Wait Idle
    150
  - Wait Loaded
    150
  - Wait until
    150
  - Wdog
    151
  - While
    151
  - Xor
    152
4 Communication Protocols

153
- Available Interfaces
  153
- Ethernet
  153
  - Communicate with Trajexia Directly from Your Computer
    154
  - Communicate with Trajexia Remotely
    155
  - Trajexia Tools Protocol
    156
  - FINS Server Protocol
    156
  - FINS Client Protocol
    158
- Serial Protocol
  158
  - Host Link Master
    158
  - Host Link Slave
    163
  - User-Defined Protocol
    165
- Profibus
  167
  - Introduction
    167
  - Communication Set-Up
    167
  - Communication Status
    172
- Devicenet
  173
  - Introduction
    173
  - Communication Set-Up
    173
  - Communication Status
    178
- Mechatrolink-II
  179
5 Trajexia Tools Interface

180
- Introduction
  180
- Specifications and Connections
  180
  - PC Specifications
    180
  - Install the Trajexia Tools Software
    181
  - Connection to the TJ1-MC
    186
- Projects
  191
  - Trajexia Tools Projects
    191
  - Check Project Window
    192
- Trajexia Tools Application Window
  194
  - Control Panel
    194
  - Menu Bar
    194
  - Toolbar
    195
- Menu Descriptions
  196
  - Project Menu
    196
  - Controller Menu
    198
  - Program Menu
    203
  - Tools Menu
    205
  - Options Menu
    221
  - Windows Menu
    224
  - Help Menu
    224
6 Examples and Tips

225
- How-To's
  225
  - Startup Program
    225
  - Gain Settings
    229
  - Setting the UNITS Axis Parameter and Gear Ratio
    239
  - Mapping Servo Driver Inputs and Outputs
    251
  - Origin Search
    253
  - Registration
    259
  - Tracing and Monitoring
    269
- Practical Examples
  279
  - Shell Program
    279
  - Initialization Program
    283
  - Single Axis Program
    286
  - Position with Product Detection
    287
  - Position on a Grid
    289
  - Bag Feeder Program
    291
  - CAM Table Inside a Program
    293
  - Flying Shear Program
    295
  - Correction Program
    298
7 Troubleshooting

300
- Voltage and Analysis Tools
  300
- Tj1-MC
  300
  - System Errors
    300
  - Axis Errors
    300
  - Unit Errors
    301
  - Configuration Errors
    302
  - Replace the Battery
    302
- Tj1-Prt
  302
  - System Errors
    302
  - I/O Data Communication Problems
    303
- Tj1-Drt
  304
  - System Errors
    304
  - I/O Data Communication Problems
    304
- Tj1-Ml
  304
  - Bus Errors
    304
- Tj1-Fl02
  305
  - System Errors
    305

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