Omron TJ2-MC64 Betriebsanleitung

Trajexia machine control system

TJ2-MC64

PROGRAMMING MANUAL

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Authorised Distributor:

Note:

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Cat. No. I58E-EN-01

Trajexia machine control system PROGRAMMING MANUAL

Cat. No.

I58E-EN-01

Cat. No.

I58E-EN-01

PROGRAMMING MANUAL III

Revision 1.0

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.

Definition of precautionary information

Trademarks and Copyrights

PROFIBUS is a registered trademark of PROFIBUS International.

MECHATROLINK is a registered trademark of Yaskawa Corporation.

DeviceNet is a registered trademark of Open DeviceNet Vendor Assoc INC.

CIP is a registered trademark of Open DeviceNet Vendor Assoc INC.

CANopen is a registered trademark of CAN in Automation (CiA).

ModbusTCP is a registered trademark of Modbus IDA.

Trajexia is a registered trademark of OMRON.

All other product names, company names, logos or other designations

mentioned herein are trademarks of their respective owners.

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.

tem, or transmitted, in any form, or by any means, mechanical, electronic, photocopying,

recording, or otherwise, without the prior written permission of OMRON.

No patent liability is assumed with respect to the use of the information contained herein.

Moreover, because OMRON is constantly striving to improve its high-quality products, the

information contained in this manual is subject to change without notice. Every precaution

has been taken in the preparation of this manual. Nevertheless, OMRON assumes no

responsibility for errors or omissions. Neither is any liability assumed for damages resulting

from the use of the information contained in this publication.

PROGRAMMING MANUAL IV

Revision 1.0

About this manual

This manual describes the installation and operation of the Trajexia Machine

Control System.

Please read this manual and the related manuals listed in the following table

carefully and be sure you understand the information provided before

attempting to install or operate the Trajexia Machine Control units. Be sure

to read the precautions provided in the following section.

Name Cat. No. Contents

Trajexia motion con-

trol system

QUICK START

GUIDE

I50E Describes how to get quickly familiar

with Trajexia, moving a single axis using

MECHATROLINK-II, in a test set-up.

Trajexia machine

control system

HARDWARE REF-

ERENCE MANUAL

I57E Describes the installation and hardware

specification of the Trajexia units, and

explains the Trajexia system philosophy.

Trajexia machine

control system

PROGRAMMING

MANUAL

I58E Describes the BASIC commands to be

used for programming Trajexia, commu-

nication protocols and Trajexia Studio

software, gives practical examples and

troubleshooting information.

Sigma-II Servo Drive

manual

SIEP S800000 15 Describes the installation and operation

of Sigma-II Servo Drives

Sigma-III with

MECHATROLINK

interface manual

SIEP S800000 11 Describes the installation and operation

of Sigma-III Servo Drives with MECHA-

TROLINK-II interface

Sigma-V Servo Drive

manual

SIEP S800000-44

SIEP S800000-46

SIEP S800000-48

Describes the installation and operation

of Sigma-V Servo Drives

JUNMA series servo

drive manual

TOEP-C71080603 01-OY Describes the installation and operation

of JUNMA Servo Drives

V7 Inverter TOEP C71060605 02-OY Describes the installation and operation

of V7 Inverters

F7Z Inverter TOE S616-55 1-OY Describes the installation and operation

of F7Z Inverters

G7 Inverter TOE S616-60 Describes the installation and operation

of G7 Inverters

JUSP-NS115 man-

ual

SIEP C71080001 Describes the installation and operation

of the MECHATROLINK-II application

module

SI-T MECHATRO-

LINK interface for

the G7 & F7

SIBP-C730600-08 Describes the installation and operation

of MECHATROLINK-II interfaces for G7

and F7 Inverters

ST-T/V7 MECHA-

TROLINK interface

for the V7

SIBP-C730600-03 Describes the installation and operation

of MECHATROLINK-II interfaces for V7

Inverters

MECHATROLINK IO

Modules

SIE C887-5 Describes the installation and operation

of MECHATROLINK-II input and output

modules and the MECHATROLINK-II

repeater

SYSMAC CS/CJ

Series Communica-

tions Commands

W342 Describes FINS communications proto-

col and FINS commands

Omron Smartslice

GRT1-Series, slice I/

O units, Operation

manual

W455-E1 Describes the installation and operation

of Omron slice I/O units

Omron G-series

user’s manual

I566-E1 Describes the installation and operation

of G-series Servo Drives

Omron Accurax G5

user’s manual

I572-E1 Describes the installation and operation

of Accurax Servo Drives

Trajexia Studio user

manual

I56E-EN Describes the use of Trajexia Studio

programming software

Name Cat. No. Contents

PROGRAMMING MANUAL V

Revision 1.0

Functions supported by unit versions

During the development of Trajexia new functionality will be 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 TJ2-MC64.

Verify the firmware and FPGA versions of the TJ2-MC64

Connect the TJ2-MC64 to Trajexia Studio software. Refer to the

Programming Manual.

Open the terminal window and type the following commands:

Type PRINT VERSION in the terminal window. The version parameter returns

the current firmware version number of the motion controller.

Type PRINT FPGA_VERSION SLOT(-1) in the terminal window. The

parameter returns the current FPGA version number of the TJ2-MC64.

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.

Functionality TJ2-MC64 Firmware

version

TJ2-MC64 FPGA version

Initial release V2.00xx 7

Contents

PROGRAMMING MANUAL VI

Revision 1.0

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 ................................................................................................................................................................................................................237

4.8 GRT1-ML2 I/O mapping ...............................................................................................................................................................................................................237

5 Examples and tips .................................................................................................................................................................................... 245

5.1 How-to’s ........................................................................................................................................................................................................................................245

5.2 Practical examples........................................................................................................................................................................................................................306

Contents

PROGRAMMING MANUAL VII

Revision 1.0

6 Troubleshooting........................................................................................................................................................................................ 341

6.1 Voltage and analysis tools ............................................................................................................................................................................................................341

6.2 TJ2-MC64 .....................................................................................................................................................................................................................................341

6.3 TJ1-PRT .......................................................................................................................................................................................................................................344

6.4 TJ1-DRT .......................................................................................................................................................................................................................................345

6.5 TJ1-CORT ....................................................................................................................................................................................................................................345

6.6 TJ1-ML__......................................................................................................................................................................................................................................346

6.7 GRT1-ML2 ....................................................................................................................................................................................................................................346

6.8 TJ1-FL02 ......................................................................................................................................................................................................................................349

A GRT1-ML2 timing ...................................................................................................................................................................................... 350

A.1 Timing concepts............................................................................................................................................................................................................................350

A.2 Examples ......................................................................................................................................................................................................................................352

Revision history .............................................................................................................................................................................................. 355

Safety warnings and precautions

PROGRAMMING MANUAL 1

Revision 1.0

1 Safety warnings and precautions

1.1 Intended audience

This manual is intended for personnel with knowledge of electrical systems

(electrical engineers or the equivalent) who are responsible for the design,

installation and management of factory automation systems and facilities.

1.2 General precautions

The user must operate the product according to the performance

specifications described in this manual.

Before using the product under conditions which are not described in the

manual or applying the product to nuclear control systems, railroad systems,

aviation systems, vehicles, safety equipment, petrochemical plants, and

other systems, machines and equipment that can have a serious influence

on lives and property if used improperly, consult your OMRON

representative.

1.3 Safety precautions

WARNING

Do not attempt to take the Unit apart and do not touch any of the

internal parts while power is being supplied.

Doing so may result in electrical shock.

WARNING

Do not touch any of the terminals or terminal blocks while power is

being supplied.

Doing so may result in electric shock.

WARNING

Never short-circuit the positive and negative terminals of the bat-

teries, charge the batteries, disassemble them, deform them by

applying pressure, or throw them into a fire.

The batteries may explode, combust or leak liquid.

WARNING

Fail-safe measures must be taken by the customer to ensure

safety in the event of incorrect, missing, or abnormal signals

caused by broken signal lines, momentary power interruptions, or

other causes.

Not doing so may result in serious accidents.

WARNING

Emergency stop circuits, interlock circuits, limit circuits, and similar

safety measures must be provided by the customer as external cir-

cuits, i.e., not in the Trajexia motion controller.

Not doing so may result in serious accidents.

WARNING

When the 24-VDC output (I/O power supply to the TJ2) is over-

loaded or short-circuited, the voltage may drop and result in the

outputs being turned off.As a countermeasure for such problems,

external safety measures must be provided to ensure safety in the

system.

WARNING

The TJ2 outputs will go off due to overload of the output transistors

(protection).As a countermeasure for such problems, external

safety measures must be provided to ensure safety in the system.

Safety warnings and precautions

PROGRAMMING MANUAL 2

Revision 1.0

1.4 Operating environment precautions

WARNING

The TJ2 will turn off the WDOG when its self-diagnosis function

detects any error.As a countermeasure for such errors, external

safety measures must be provided to ensure safety in the system.

WARNING

Provide safety measures in external circuits, i.e., not in the Tra-

jexia Machine Controller (referred to as "TJ2"), in order to ensure

safety in the system if an abnormality occurs due to malfunction of

the TJ2 or another external factor affecting the TJ2 operation.

Not doing so may result in serious accidents.

WARNING

Do not attempt to disassemble, repair, or modify any Units.

Any attempt to do so may result in malfunction, fire, or electric

shock.

Caution

Confirm safety at the destination unit before transferring a program

to another unit or editing the memory.

Doing either of these without confirming safety may result in injury.

Caution

Pay careful attention to the polarity (+/-) when wiring the DC power

supply.A wrong connection may cause malfunction of the system.

Caution

Tighten the screws on the terminal block of the Power Supply Unit

to the torque specified in this manual.

Loose screws may result in burning or malfunction.

Caution

Do not operate the Unit in any of the following locations.

Doing so may result in malfunction, electric shock, or burning.

- Locations subject to direct sunlight.

- Locations subject to temperatures or humidity outside the

range specified in the specifications.

- Locations subject to condensation as the result of severe

changes in temperature.

- Locations subject to corrosive or flammable gases.

- Locations subject to dust (especially iron dust) or salts.

- Locations subject to exposure to water, oil, or chemicals.

- Locations subject to shock or vibration.

Caution

Take appropriate and sufficient countermeasures when installing

systems in the following locations.

Inappropriate and insufficient measures may result in malfunction.

- Locations subject to static electricity or other forms of noise.

- Locations subject to strong electromagnetic fields.

- Locations subject to possible exposure to radioactivity.

- Locations close to power supplies.

Caution

The operating environment of the TJ2 System can have a large

effect on the longevity and reliability of the system.

Improper operating environments can lead to malfunction, failure,

and other unforeseeable problems with the TJ2 System.

Make sure that the operating environment is within the specified

conditions at installation and remains within the specified condi-

tions during the life of the system.

Safety warnings and precautions

PROGRAMMING MANUAL 3

Revision 1.0

1.5 Application precautions

WARNING

Do not start the system until you check that the axes are present

and of the correct type.

The numbers of the Flexible axes will change if MECHATROLINK-

II network errors occur during start-up or if the MECHATROLINK-II

network configuration changes.

WARNING

When using multiple TJ1-ML__ units, do not swap the MECHA-

TROLINK-cables. This can result in different axis allocation. This

can result in serious injury and/or significant damage.

WARNING

Check the user program for proper execution before actually run-

ning it in the Unit.

Not checking the program may result in an unexpected operation.

Caution

Always use the power supply voltage specified in this manual.

An incorrect voltage may result in malfunction or burning.

Caution

Take appropriate measures to ensure that the specified power with

the rated voltage and frequency is supplied. Be particularly careful

in places where the power supply is unstable.

An incorrect power supply may result in malfunction.

Caution

Install external breakers and take other safety measures against

short-circuiting in external wiring.

Insufficient safety measures against short-circuiting may result in

burning.

Caution

Do not apply voltage to the Input Units in excess of the rated input

voltage.

Excess voltage may result in burning.

Caution

Do not apply voltage or connect loads to the Output Units in

excess of the maximum switching capacity.

Excess voltage or loads may result in burning.

Caution

Disconnect the functional ground terminal when performing with-

stand voltage tests.

Not disconnecting the functional ground terminal may result in

burning.

Caution

Always connect to a class-3 ground (to 100Ωor less) when install-

ing the Units.

Not connecting to a class-3 ground may result in electric shock.

Safety warnings and precautions

PROGRAMMING MANUAL 4

Revision 1.0

Caution

Always turn off the power supply to the system before attempting

any of the following.

Not turning off the power supply may result in malfunction or elec-

tric shock.

- Mounting or dismounting expansion Units, CPU Units, or any

other Units.

- Assembling the Units.

- Setting dipswitches or rotary switches.

- Connecting or wiring the cables.

- Connecting or disconnecting the connectors.

Caution

Be sure that all mounting screws, terminal screws, and cable con-

nector screws are tightened to the torque specified in this manual.

Incorrect tightening torque may result in malfunction.

Caution

Leave the dust protective label attached to the Unit when wiring.

Removing the dust protective label may result in malfunction.

Caution

Remove the dust protective label after the completion of wiring to

ensure proper heat dissipation.

Leaving the dust protective label attached may result in malfunc-

tion.

Caution

Use crimp terminals for wiring. Do not connect bare stranded wires

directly to terminals.

Connection of bare stranded wires may result in burning.

Caution

Double-check all the wiring before turning on the power supply.

Incorrect wiring may result in burning.

Caution

Wire correctly.

Incorrect wiring may result in burning.

Caution

Mount the Unit only after checking the terminal block completely.

Caution

Be sure that the terminal blocks, expansion cables, and other

items with locking devices are properly locked into place.

Improper locking may result in malfunction.

Caution

Confirm that no adverse effect will occur in the system before

changing the operating mode of the system.

Not doing so may result in an unexpected operation.

Caution

Resume operation only after transferring to the new CPU Unit the

contents of the VR and table memory required for operation.

Not doing so may result in an unexpected operation.

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