Table Of Contents - Omron TJ2-MC64 - PROGRAMMING Programming Manual

Contents
1 Safety warnings and precautions................................................................................................................................................................ 1
1.1 Intended audience ............................................................................................................................................................................................................................1
1.2 General precautions .........................................................................................................................................................................................................................1
1.3 Safety precautions ...........................................................................................................................................................................................................................1
1.4 Operating environment precautions..................................................................................................................................................................................................2
1.5 Application precautions.....................................................................................................................................................................................................................3
1.6 Unit assembly precautions................................................................................................................................................................................................................5
2 Trajexia system ........................................................................................................................................................................................... 6
2.1 Introduction .......................................................................................................................................................................................................................................6
2.2 Multitasking BASIC programming.....................................................................................................................................................................................................8
2.3 BASIC programming.........................................................................................................................................................................................................................9
2.4 Motion execution.............................................................................................................................................................................................................................14
2.5 Command line interface ..................................................................................................................................................................................................................15
2.6 BASIC programs.............................................................................................................................................................................................................................15
3 BASIC commands ...................................................................................................................................................................................... 17
3.1 Categories ......................................................................................................................................................................................................................................17
3.2 All BASIC commands .....................................................................................................................................................................................................................26
4 Communication protocols ...................................................................................................................................................................... 204
4.1 Available interfaces.......................................................................................................................................................................................................................204
4.2 Ethernet ....................................................................................................................................................................................................................................204
4.3 Serial protocol ...........................................................................................................................................................................................................................212
4.4 PROFIBUS ...................................................................................................................................................................................................................................221
4.5 DeviceNet .....................................................................................................................................................................................................................................226
4.6 CANopen ......................................................................................................................................................................................................................................232
4.7 MECHATROLINK-II
4.8 GRT1-ML2 I/O mapping ...............................................................................................................................................................................................................237
5 Examples and tips .................................................................................................................................................................................... 245
5.1 How-to's........................................................................................................................................................................................................................................245
5.2 Practical examples........................................................................................................................................................................................................................306
PROGRAMMING MANUAL
................................................................................................................................................................................................................237
VI