Contents
PROGRAMMING MANUAL
5
Revi
si
on 3.0
1
Safety warnings and precautions.............................................................................................................................................................. 16
1.1
Intended audience ..........................................................................................................................................................................................................................16
1.2
General precautions .......................................................................................................................................................................................................................16
1.3
Safety precautions .........................................................................................................................................................................................................................16
1.4
Operating environment precautions................................................................................................................................................................................................17
1.5
Application precautions...................................................................................................................................................................................................................18
1.6
Unit assembly precautions..............................................................................................................................................................................................................21
2
Trajexia system .......................................................................................................................................................................................... 22
2.1
Introduction .....................................................................................................................................................................................................................................22
2.1.1
Trajexia hardware ............................................................................................................................................................................................................23
2.1.2
This manual ......................................................................................................................................................................................................................23
2.2
Multitasking BASIC programming...................................................................................................................................................................................................23
2.3
BASIC programming.......................................................................................................................................................................................................................24
2.3.1
Axis, system and task statements ....................................................................................................................................................................................24
2.3.2
Memory areas...................................................................................................................................................................................................................24
2.3.3
Data structures and variables...........................................................................................................................................................................................25
2.3.4
Mathematical specifications..............................................................................................................................................................................................27
2.4
Motion execution.............................................................................................................................................................................................................................28
2.4.1
Motion generator ..............................................................................................................................................................................................................28
2.4.2
Sequencing.......................................................................................................................................................................................................................29
2.4.3
Move loading ....................................................................................................................................................................................................................29
2.5
Command line interface..................................................................................................................................................................................................................30
2.6
BASIC programs.............................................................................................................................................................................................................................30
2.6.1
Managing programs..........................................................................................................................................................................................................30
2.6.2
Program compilation.........................................................................................................................................................................................................31
2.6.3
Program execution ...........................................................................................................................................................................................................31
3
BASIC commands ...................................................................................................................................................................................... 33
3.1
Categories ......................................................................................................................................................................................................................................33
3.1.1
Axis commands ...............................................................................................................................................................................................................33
3.1.2
Axis parameters ...............................................................................................................................................................................................................34
3.1.3
Communication commands and parameters ...................................................................................................................................................................36
3.1.4
Constants .........................................................................................................................................................................................................................36
3.1.5
I/O commands, functions and parameters ......................................................................................................................................................................36
3.1.6
Mathematical functions and operands .........................................................................................................................................................................37
3.1.7
Program commands ........................................................................................................................................................................................................37
3.1.8
Program control commands ............................................................................................................................................................................................38
3.1.9
Slot parameters and modifiers ........................................................................................................................................................................................38
3.1.10
System commands and functions ..................................................................................................................................................................................38
I52E-EN-03.book Seite 5 Freitag, 29. Juni 2007 11:55 11
