Trajexia system
PROGRAMMING MANUAL
31
Revi
si
on 3.0
2.6.2
Program compilation
The TJ1-MC__ system compiles programs automatically when required. It is
not normally required to force the TJ1-MC__ to compile programs, but
programs can be compiled under the
Program
menu in Trajexia Tools.
The TJ1-MC__ automatically compiles programs at the following times.
•
The selected program is compiled before it is executed if it has been
edited.
•
The selected program is compiled if it has been edited before switching
the selected program to another program.
•
The selected program is compiled by using the
COMPILE
command.
The program syntax and structure are checked during compilation. If
compilation is unsuccessful, a message will be provided and no program
code will be generated. A red cross will appear in the Trajexia Tools directory
box.
Programs cannot be run when compilation errors occur. The errors should
be corrected and the program recompiled.
The compilation process also includes the following:
•
Removing comments.
•
Compiling numbers into the internal processor format.
•
Converting expressions into Reverse Polish Notation format for
execution.
•
Precalculating variable locations.
•
Calculating and embedding loop structure destinations.
2.6.3
Program execution
The timing of the execution for the different tasks and the refreshing of the I/
O of the TJ1-MC__ revolves around the servo cycle period of the system.
The servo cycle period is determined by the
SERVO_PERIOD
system
parameter. The TJ1-MC__ will either have a servo cycle period of 0.5, 1.0 or
2.0 ms.
I/O refresh
The I/O status of the TJ1-MC__ is refreshed at the beginning of every servo
cycle.
•
The captured status of the digital inputs is transferred to the
IN
system
input variable. Note that this is the status captured in the previous servo
cycle.
•
The analogue outputs for the speed references are updated.
•
The digital outputs are updated conform the status of the
OP
system
output variable.
•
The status of the digital inputs is captured.
Note that no automatic processing of the I/O signals is taking place, except
for registration. This implies that all actions must be programmed in the
BASIC programs.
Relevant commands
Trajexia Tools provides several ways of executing, pausing and stopping the
programs using buttons on the control panel and the editing windows. The
following commands can be given on the command line to control the
execution.
/i
As the compiling process requires some free memory, un-
expected compiling errors may be occurring when the
amount of free memory is not sufficient.
Command
Function
RUN
Run the current selected program or a specified program, optionally on a
specified task number.
STOP
Stop the current selected program or a specified program.
HALT
Stop all programs on the system.
PROCESS
Displays all running tasks.
I52E-EN-03.book Seite 31 Freitag, 29. Juni 2007 11:55 11
