Trajexia system
PROGRAMMING MANUAL
24
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on 3.0
Multitasking is simple to set up and use and allows very complex machines
to be programmed. Multitasking gives the TJ1-MC__ a significant advantage
over equivalent single task systems. It allows modular applications where
the logically connected processes can be grouped together in the same task
program, thus simplifying the code architecture and design.
The TJ1-MC__ can hold up to 14 programs if memory size permits. The
execution of the programs is user controlled using BASIC.
The BASIC commands, functions and parameters presented here can be
found in chapter 3.
2.3
BASIC programming
The BASIC language consists among others of commands, functions and
parameters. These BASIC statements are the building blocks provided to
control the TJ1-MC__ operation.
Commands are words recognized by the processor that perform a certain
action but do not return a value. For example,
is a recognized word
that will cause the value of the following functions or variables to be printed
on a certain output device.
Functions are words recognized by the processor that perform a certain
action and return a value related to that action. For example,
ABS
will take
the value of its parameter and return the absolute value of it to be used by
some other function or command. For example
ABS(-1)
will return the value
1, which can be used by the
command, for example, to generate a
string to be output to a certain device.
Parameters are words recognized by the processor that contain a certain
value. This value can be read and, if not read only, written. Parameters are
used to determine and monitor the behavior of the system. For example,
ACCEL
determines the acceleration rate of a movement for a certain axis.
2.3.1
Axis, system and task statements
The commands, functions and parameters apply either to (one of) the axes,
the tasks running or the general system.
Axis statements
The motion control commands and the axis parameters apply to one or more
axes. Axis parameters determine and monitor how an axis reacts on
commands given and how it reacts to the outside world. Every axis has a set
of parameters, so that all axes can work independently of each other. The
motion control commands are able to control one or more of the axes
simultaneously, while every axis has its own behavior. The axis parameters
are reset to their default values for each startup.
The commands and parameters work on some base axis or group of axes,
specified by the
BASE
command. The
BASE
command is used to change
this base axis group and every task has its own group which can be changed
at any time. The default base axis is 0.
Individual axis dependent commands or parameters can also be
programmed to work on a temporary base axis by including the
AXIS
function as a modifier in the axis dependent command. A temporary base
axis is effective only for the command or parameter after which
AXIS
appears.
Task statements
The task parameters apply to a single task. The task parameters monitor the
task for example for error handling. The
PROC
modifier allows the user to
access a parameter of a certain task. Without
PROC
the current task is
assumed. The
BASE
command (see above) is task specific and can be
used with the
PROC
modifier.
System statements
These statements govern the overall system features, which are basically all
statements which do not belong to the first two groups.
2.3.2
Memory areas
Three main memory areas can be identified in the Trajexia Motion Controller
Unit:
•
I/O memory.
•
VR memory.
•
TABLE memory.
I52E-EN-03.book Seite 24 Freitag, 29. Juni 2007 11:55 11
