OMRON TJ1-MC16 Motion Control Unit Manuals

Manuals and User Guides for OMRON TJ1-MC16 Motion Control Unit. We have 5 OMRON TJ1-MC16 Motion Control Unit manuals available for free PDF download: Programming Manual, Hardware Reference Manual, Quick Start Manual

OMRON TJ1-MC16 Programming Manual (312 pages)

Brand: OMRON | Category: Controller | Size: 13 MB

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

OMRON TJ1-MC16 Hardware Reference Manual (163 pages)

Brand: OMRON | Category: Controller | Size: 8 MB

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

8
- Intended Audience
  8
- General Precautions
  8
- Safety Precautions
  8
- Operating Environment Precautions
  9
- Application Precautions
  10
- Unit Assembly Precautions
  13
- Conformance to EC Directives Conformance
  13
  - Concepts
    13
  - Conformance to EC Directives
    13
2 System Philosophy

14
- Introduction
  14
- Motion Control Concepts
  16
  - PTP Control
    17
  - CP Control
    20
  - EG Control
    22
  - Other Operations
    25
- Servo System Principles
  27
- Trajexia System Architecture
  30
- Cycle Time
  31
- Program Control and Multi-Tasking
  37
- Motion Sequence and Axes
  40
  - Profile Generator
    41
  - Position Loop
    41
  - Axis Sequence
    41
  - Type of Axis
    41
- Motion Buffers
  48
- Mechanical System
  50
3 Hardware Reference

51
- Introduction
  51
  - Trajexia High-Lights
    52
  - Trajexia Tools
    53
  - This Manual
    53
- All Units
  54
- Power Supply Unit (PSU)
  66
  - Introduction
    66
  - PSU Connections
    66
  - PSU Specifications
    67
  - PSU Box Contents
    67
- Tj1-MC
  68
  - Introduction
    68
  - LED Display
    69
  - TJ1-MC__ Connections
    70
  - Battery
    76
  - Tj1-MC
    77
  - Tj1-Ter
    78
  - Tj1-MC
    78
- Tj1-Ml
  79
- Tj1-Prt
  131
  - Introduction
    131
  - Leds Description
    131
  - Node Number Selectors
    132
  - TJ1-PRT Connections
    132
  - TJ1-PRT Specifications
    133
  - TJ1-PRT Unit Box Contents
    133
- Tj1-Drt
  134
  - Introduction
    134
  - Leds Description
    134
  - Node Number Selectors
    135
  - TJ1-DRT Connections
    136
  - TJ1-DRT Specifications
    137
  - TJ1-DRT Unit Box Contents
    137
- Tj1-Fl02
  138
  - Introduction
    138
  - LED Description
    139
  - TJ1-FL02 Connections
    140
  - TJ1-FL02 Specifications
    146
  - Incremental Encoder
    147
  - Absolute Encoder
    149
  - Stepper
    153
  - Registration
    153
  - Hardware PSWITCH
    154
  - 3.8.10 TJ1-FL02 Box Contents
    154
A Differences between Sigma-II and Junma

162

OMRON TJ1-MC16 Hardware Reference Manual (195 pages)

Trajexia Motion Control System

Brand: OMRON | Category: Control Systems | Size: 5 MB

Table of Contents
5
1 Safety Warnings and Precautions

6
2 System Philosophy

12
- Introduction
  12
- Motion Control Concepts
  13
- Servo System Principles
  24
- Hardware Reference Manual
  24
- Trajexia System Architecture
  27
- Hardware Reference Manual
  27
- Cycle Time
  28
- Program Control and Multi-Tasking
  34
- Hardware Reference Manual
  34
- Motion Sequence and Axes
  35
  - Mechatrolink
    35
  - Hardware Reference Manual
    35
- Motion Buffers
  45
- Mechanical System
  47
- Hardware Reference Manual
  47
3 Hardware Reference

48
- Introduction
  48
- Mechatrolink
  48
- All Units
  51
- Power Supply Unit (PSU)
  62
- Tj1-MC
  64
- Tj1-Ml
  75
- Grt1-Ml2
  148
- Tj1-Prt
  163
- Tj1-Drt
  167
- Tj1-Cort
  171
- Tj1-Fl02
  175
A Differences between Sigma-II and Junma

193
Revision History

194

Omron TJ1-MC16 Hardware Reference Manual (195 pages)

Trajexia motion control system

Brand: Omron | Category: Control Systems | Size: 5 MB

Table of Contents
5
Safety Warnings and Precautions
6
Intended Audience
6
General Precautions
6
Safety Precautions
6
Operating Environment Precautions
7
Application Precautions
8
Unit Assembly Precautions
10
Conformance to EC Directives Conformance
11
System Philosophy
12
Introduction
12
Motion Control Concepts
13
Servo System Principles
24
Trajexia System Architecture
27
Cycle Time
28
Program Control and Multi-Tasking
34
Motion Sequence and Axes
35
Motion Buffers
45
Mechanical System
47
Hardware Reference
48
Introduction
48
All Units
51
Power Supply Unit (PSU)
62
Tj1-MC
64
Tj1-Ml
75
Grt1-Ml2
148
Tj1-Prt
163
Tj1-Drt
167
Tj1-Cort
171
Tj1-Fl02
175
A Differences between Sigma-II and Junma
193
Revision History
194

OMRON TJ1-MC16 Quick Start Manual (47 pages)

Brand: OMRON | Category: Controller | Size: 5 MB

Table of Contents
2
1 Introduction

4
- About this Guide
  4
- Overview of this Guide
  5
- What You Need
  6
2 From Box to Rail

7
3 Connections

13
- Before Work
  13
- Power Supply Units
  13
  - Recommended Power Supply Unit
    14
  - Optional Power Supply Units
    15
- Tj1-MC
  16
- Tj1-Ml
  17
- Complete Installation
  23
4 Trajexia Tools

24
5 More Information

43
- The Trajexia System
  43
- Trajexia Highlights
  44
  - Direct Connectivity Via Ethernet
    44
  - Keep Your Know-How Safe
    44
  - Serial Port and Local I/Os
    44
  - Mechatrolink-II
    44
  - Tj1-Fl02
    44
  - Drivers and Inverters
    45
  - Remote I/Os
    45
    
    Profibus
    45
    
    Devicenet
    45
    
    Trajexia Manuals
    45

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OMRON TJ1-MC16 Motion Control Unit Manuals

OMRON TJ1-MC16 Programming Manual (312 pages)

Table of Contents

1 Safety Warnings and Precautions

2 Trajexia System

3 BASIC Commands

4 Communication Protocols

5 Trajexia Tools Interface

6 Examples and Tips

7 Troubleshooting

OMRON TJ1-MC16 Hardware Reference Manual (163 pages)

Table of Contents

1 Safety Warnings and Precautions

2 System Philosophy

3 Hardware Reference

A Differences between Sigma-II and Junma

OMRON TJ1-MC16 Hardware Reference Manual (195 pages)

Table of Contents

1 Safety Warnings and Precautions

2 System Philosophy

3 Hardware Reference

A Differences between Sigma-II and Junma

Revision History

Omron TJ1-MC16 Hardware Reference Manual (195 pages)

Table of Contents

OMRON TJ1-MC16 Quick Start Manual (47 pages)

Table of Contents

1 Introduction

2 From Box to Rail

3 Connections

4 Trajexia Tools

5 More Information

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