Specifications

Contents
PROGRAMMING MANUAL IV
Revision 5.0
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.....................................................................................................................................................................................................7
2.3 BASIC programming.........................................................................................................................................................................................................................8
2.4 Motion execution.............................................................................................................................................................................................................................12
2.5 Command line interface..................................................................................................................................................................................................................13
2.6 BASIC programs.............................................................................................................................................................................................................................13
3 BASIC commands ...................................................................................................................................................................................... 15
3.1 Categories ......................................................................................................................................................................................................................................15
3.2 All BASIC commands .....................................................................................................................................................................................................................23
4 Communication protocols ......................................................................................................................................................................179
4.1 Available interfaces.......................................................................................................................................................................................................................179
4.2 Ethernet ....................................................................................................................................................................................................................................179
4.3 Serial protocol ...........................................................................................................................................................................................................................183
4.4 PROFIBUS ...................................................................................................................................................................................................................................191
4.5 DeviceNet .....................................................................................................................................................................................................................................196
4.6 CANopen ......................................................................................................................................................................................................................................202
4.7 MECHATROLINK-II ................................................................................................................................................................................................................205
4.8 GRT1-ML2 I/O mapping ...............................................................................................................................................................................................................206
5 Examples and tips .................................................................................................................................................................................... 212
5.1 How-to’s........................................................................................................................................................................................................................................212
5.2 Practical examples........................................................................................................................................................................................................................269