Omron trajexia CJ1W-MCH72, Operation Manual

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TABLE OF CONTENTS
v
Precautions vii
1 Intended audience ....................................................................................................................................................vii
2 General precautions .................................................................................................................................................vii
3 Safety precautions....................................................................................................................................................vii
4 Operating environment precautions........................................................................................................................viii
5 Application precautions ............................................................................................................................................ ix
6 Conformance to EC Directives ................................................................................................................................. xi
SECTION 1
Introduction
1
1-1 Overview.................................................................................................................................................................... 1
1-2 System philosophy..................................................................................................................................................... 2
1-3 Motion control concepts ............................................................................................................................................ 4
1-4 Servo system principles ........................................................................................................................................... 13
1-5 Trajexia system architecture .................................................................................................................................. 16
1-6 Cycle time ............................................................................................................................................................... 17
1-7 Program control and multi-tasking .......................................................................................................................... 22
1-8 Motion sequence and axes ....................................................................................................................................... 23
1-9 Motion buffers ....................................................................................................................................................... 31
1-10 Mechanical system................................................................................................................................................... 33
1-11 Axis numbers ........................................................................................................................................................... 34
SECTION 2
Installation and wiring
35
2-1 Unit components ...................................................................................................................................................... 35
2-2 Wiring ...................................................................................................................................................................... 40
2-3 Installation ............................................................................................................................................................... 50
2-4 Specifications........................................................................................................................................................... 55
SECTION 3
Data exchange
59
3-1 Introduction.............................................................................................................................................................. 59
3-2 Memory areas........................................................................................................................................................... 60
3-3 Data.......................................................................................................................................................................... 62
3-4 FINS commands ...................................................................................................................................................... 65
SECTION 4
BASIC commands
73
4-1 Categories ................................................................................................................................................................ 73
4-2 All BASIC commands ............................................................................................................................................. 84
SECTION 5
Examples
267
5-1 How-to’s ................................................................................................................................................................ 268
5-2 Practical examples ................................................................................................................................................. 320