Omron GRT1-ML2 Hardware Reference Manual page 4

WARNING
Failure to read and understand the information provided in this
manual may result in personal injury or death, damage to the pro-
duct, or product failure. Please read each section in its entirety and
be sure you understand the information provided in the section and
related sections before attempting any of the procedures or opera-
tions given.
Functions supported by unit versions
During the development of Trajexia new functionality was added to the
controller unit after market release.
This functionality is implemented in the firmware, and/or the FPGA of the
controller unit.
In the table below, the overview of the applicable functionality is shown
related to the firmware and FPGA version of the TJ1-MC__.
/i
Functionality
Full support TJ1-FL02
Support BASIC commands FINS_COMMS
Support TJ1-DRT
Support TJ1-MC04 andTJ1-ML04
Support TJ1-CORT, GRT1-ML2, Mod-
busTCP, Sigma-V series Servo Drivers
(except DATUM and REGIST BASIC com-
mands) and allow Inverters to be controlled
as servo axes
Support for G-series Drivers, full support for
Sigma-V series Servo Drivers
Support for Accurax G5 Drivers
Verify the firmware and FPGA versions of the TJ1-MC__
HARDWARE REFERENCE MANUAL
TJ1-MC__ Firmware TJ1-MC__ FPGA
version version
V1.6509 21 and higher
V1.6509 All versions
V1.6509 All versions
V1.6607 21 and higher
V1.6652 21 and higher
V1.6714 21 and higher
V1.6720 21 and higher
Connect the TJ1-MC__ to Trajexia Studio software. Refer to the
Programming Manual.
Open the terminal window and type the following commands:
Type in the terminal window. The version parameter returns
PRINT VERSION
the current firmware version number of the motion controller.
Type
PRINT FPGA_VERSION SLOT(-1)
parameter returns the current FPGA version number of the TJ1-MC__.
in the terminal window. The
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