User manual OMRON TJ1-MC04 PROGRAMMING 1

[. . . ] I52E-EN-03 Trajexia motion control system TJ1-MC04 TJ1-MC16 programming manual Notice OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual. The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property. /i Definition of precautionary information DANGER Indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury. WARNING Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious injury. Caution Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate injury, or property damage. © OMRON, 2007 Trademarks and Copyrights PROFIBUS is a registered trademark of PROFIBUS International. [. . . ] Two values are possible: 0: Use the programs in battery backed RAM; 1: Copy programs from the controllers flash EPROM into RAM. Programs are individually selected to be run at power up with the RUNTYPE command Notes: · POWER_UP is always an immediate command and therefore cannot be included in programs. · This value is normally set by Trajexia Tools. EPROM Arguments · Example Example PRINT "CAPITALS and lower case CAN BE PRINTED" Consider VR(1) = 6 and variab = 1. 5, the print output will be as follows: PRINT 123. 45, VR(1)-variab 123. 4500 4. 5000 length: PRINT "DISTANCE = ";mpos DISTANCE = 123. 0000 In this example, the semi-colon separator is used. This does not tab into the next column, allowing the programmer more freedom in where the print items are placed. Arguments Example See also Revision 3. 0 Example PROGRAMMING MANUAL 123 BASIC commands Example Example PRINT VR(1)[ 4, 1 ];variab[ 6, 2 ] 6. 0 1. 50 params: PRINT "DISTANCE = ";mpos[ 0 ];" SPEED = ";v[ 2 ]; DISTANCE = 123 SPEED = 12. 34 PRINT "ITEM ";total" OF ";limit;CHR(13); >> PRINT HEX(15), HEX(-2) F FFFFA $ (HEXADECIMAL INPUT), OUTDEVICE. Example Description Programming port 0 (default) RS-232C serial port 1 RS-422A/485 serial port 2 Trajexia Tools port 0 user channel 5 Trajexia Tools port 0 user channel 6 Trajexia Tools port 0 user channel 7 See also N/A 3. 2. 209 PROC /i Type Syntax Description Arguments Task command PROC(task_number) The PROC modifier allows a process parameter from a particular process to be read or written. If omitted, the current task will be assumed. · task_number The number of the task to access. Example Example See also /i Value 0 1 2 5 6 7 WAIT UNTIL PMOVE PROC(3)=0 3. 2. 210 PROC_STATUS /i Type Syntax Description Task parameter PROC_STATUS The PROC_STATUS parameter returns the status of the process or task specified. The parameter is used with the PROC modifier and can return values listed in the table below. N/A WAIT UNTIL PROC_STATUS PROC(3)=0 PROCNUMBER, PROC. Arguments Example See also /i Value 0 1 2 3 Revision 3. 0 Description Process stopped Process running Process stepping Process paused PROGRAMMING MANUAL 124 BASIC commands 3. 2. 211 PROCESS /i Type Syntax Description Arguments Example See also Program command PROCESS The PROCESS command returns the status list of all running tasks with their task number. HALT, RUN, STOP. 3. 2. 213 PROFIBUS /i Type Syntax System command PROFIBUS(unit_number, 2, 1, VR_start_outputs, no_outputs, VR_start_inputs, no_inputs) PROFIBUS(unit_number, 4, 0) PROFIBUS function 2 configures the TJ1-PRT for data exchange with the PROFIBUS-DP master unit and defines areas in the VR memory where I/O exchange takes place. PROFIBUS function 4 returns the data exchange status of the TJ1-PRT. Refer to the table for the description of the bits in the data exchange status word. · · unit_number Specifies the unit number of the TJ1-PRT in the Trajexia system. VR_start_outputs The starting address in VR memory of the controller where the output data from the PROFIBUS-DP master is located. no_outputs The number of output words from the PROFIBUS-DP master in VR memory. VR_start_inputs The starting address in VR memory of the controller where the input data for the PROFIBUS-DP master is located. no_inputs The number of input words to the PROFIBUS-DP master in VR memory. Description 3. 2. 212 PROCNUMBER /i Type Syntax Description Task parameter (read-only) PROCNUMBER The PROCNUMBER parameter contains the number of the task in which the currently selected program is running. PROCNUMBER is often required when multiple copies of a program are running on different tasks. N/A MOVE(length) AXIS(PROCNUMBER) PROC_STATUS, PROC. Arguments · · Arguments Example See also · Example PROFIBUS (0, 2, 1, 10, 16, 150, 31) In this example, the TJ1-PRT is configured to exchange data with PROFIBUS-DP master with 16 output words (received from the master) located at VR(10) to VR(25), and 31 input words (sent to the master) located at VR(150) to VR(180). N/A See also /i Revision 3. 0 PROGRAMMING MANUAL 125 BASIC commands Arguments · · · · · · · switch The switch number. axis The number of the axis providing the position input. [. . . ] MECHATROLINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PROFIBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Trajexia Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User-defined . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [. . . ]