TrajeXia Training - myOMRON Training - … · TrajeXia Training. Carlos Ruiz, Application engineer. ... controller from OMRON. • ... TrajeXia is NOT a PLC

TrajeXia TrainingCarlos Ruiz, Application engineer

CONTENTS

TrajeXia OverviewHardware and general specification TrajeXia ToolsTrajexia ArchitectureProgramming TrajeXiaHow I do… with TrajeXia?CommunicationTrajeXia success histories

CONTENTS: TrajeXia Overview

-What is Trajexia?-Key concept. Freedom-TrajeXia system Architecture-Some typical application.-Available documentation-TrajeXia Minisite

TrajeXia Overview: What is TrajeXia

TRAJEXIA DESIGN TOPICS• Trajexia is the ultimate StandAlone General Purpose Motion

controller from OMRON.• Is an Omron European development in collaboration with a third

party company (Trio Motion).• It is a modular system that allows maximum flexibility and

scalability with a very competitive price.

• Mechatrolink-II is the motion Bus.


TRAJEXIA DESIGN TOPICS

• It fits in the same CJ1 case (But keying is different)

• TrajeXia is NOT a PLC. But has been designed to be integrated with the most popular PLC’s in the market.

• Ethernet is the future so there is an embedded Ethernet port.

• Must be seamless integrated in the Smart Platform. So FINS are implemented.


• Designed to support, in the same application, pulse, analog and Networked axes. (Up to 16 axes)

• Can control up to 8 Inverter and IO modules via Mechatrolink-II motion network.

• We propose the MECHATROLINK-II motion bus, that obtains the maximum axis performance and control with the minimum wiring.

• We can control up to 8 axes at 0.5ms cycle time and 16 axes at 1ms cycle time

Trajexia’s software tool includes:Programming environtment.MechatroLink Drive support (embedded CX-Drive technology).Advanced system diagnostics and configuration.

Programming language is a simple BASIC style with dedicated motion commands.

Multi tasking program is possible (several programs running in parallel).

Motion commands are ‘buffered’ then the basic program can be executed at the same time than the movements.


TrajeXia Overview: Key concept. FreedomFREEDOM TO DESIGN:

Trajexia is a standalone motion controller that do not tie you to an specific machine architecture so, you can choose…

Freedom to communicate

Freedom to control

Freedom to built

TrajeXia Overview: Key concept. FreedomFREEDOM TO COMMUNICATE:

Trajexia has a built in Ethernet port and provide the most common fieldbus capability so you can easily conmunicate Trajexia to your upper controller (PC, HMI, PLC, …)

Freedom to communicate

Ethernet FINS, TELNET, DeviceNet, ProfiBus, Serial (RS232 & RS485), ModbusTCP, CANOpen, Ethernet-IP,… and ready to implement new ones as the market demands it.

Of course… Communication with Omron are enhanced.

TrajeXia Overview: Key concept. FreedomFREEDOM TO CONTROL:

Trajexia allows perfect control of up to 16 axes with independent or synchronized control of the

PositionSpeedTorque

Freedom to control

Powerful instruction set and intuitive and easy programming language.

You can approach your application following your own techniques.

TrajeXia Overview: Key concept. FreedomFREEDOM TO BUILT:

You can select between the widest choice of best rotary, linear and torque servos in the market. You can control inverter and IO modules also.

And all this connected via a single cable over the MECHATROLINK-II motion network.

You can also control any third party motors via the traditional Analogue-Output/Encoder-feedback or pulse output interfaces (Eg, stepper motors, hollow shaft, …)

Freedom to built

TrajeXia Overview: Key concept. FreedomFREEDOM TO CHOOSE:TrajeXia is a Modular and Scalable system.

You can choose between:- Different CPU units- Different communication units- Different motion units- Different Servos, Inverter and IO units

At the end you pay what you need.

TrajeXia Overview: Key concept. FreedomFREEDOM TO CHOOSE:

Power supply

CPUMechatrolink

Master

Flexible Axis

DeviceNet Slave

Profibus Slave

Bus Terminator

TrajeXia Overview: Key concept. FreedomFREEDOM TO PERFORM:

The most complex Motion application can be solved with TrajeXia. At the moment we have not faced one application that could not be solved…

But we keep the simplicity. The learning curve is extremelly fast. You can become expert in a few days.

TrajeXia Overview: Key concept. FreedomFREEDOM TO CREATE:

All the information from down the servo to up the supervision system is available. You can create from the most simple to the most complex application.

And you have the tools to do this.

TrajeXia Overview: Key concept. FreedomFREEDOM TO CREATE:

Although there are some “good programming practices” to follow, the system is very flexible, you can create your application following your own approach to the problem.

So, the “know-how” belongs to the OEM, not to the supplier.

TrajeXia Overview: TrajeXia System ArchitectureA system based in TrajeXia may contain the next elements

Supervisory system (SCADA or similar)

Remote acces for programming and

monitoringHMIPLC

TrajeXia

Servodrives

InverterDigital & Analogue

IO modules

Other factory PLC

MECHATROLINK INTERFACE

Third party drives

ANALOGUE INTERFACE

ETHERNET

DEVICE-NET PROFIBUS

The system is Open but with Omron Smart Platform integrated technology (FINS, Routing, Software,…) you get the maximum performance.

MECHATROLINKMECHATROLINK

• One Motion Core

• One connection• One software

• One source, many targets EtherNetEtherNet

Slice I/O’sSlice I/O’s

Exclusive NEW High Performance MOTION BUS (It is not PC21 based).

TrajeXia Overview: TrajeXia System Architecture

Smart Platform integration:

• One Motion Core




Programming via Ethernet

CX-Supervisor supports TrajeXia.

Software Tool integrated in CX-One.

HMI Supports TrajeXia (System version 6.71 or newer)

There exists Function Blocks to communicate with TrajeXia.

TrajeXia can be FINS client to communicate with a PLC.

Smart Platform integration.

MECHATROLINKMECHATROLINK

• One Motion Core



Slice I/O’sSlice I/O’s


FINS Routing via MECHATROLINK.

CX-Drive is embedded in TrajeXia Tools.

Full access to the Mechatrolink drives from Ethernet.

TrajeXia Overview: Typical applicationTrajeXia is a General Purpose advanced motion controller. Designed to solve any simple or complex motion application of Up to 16 axes.

TrajeXia is NOT a dedicated motion controller, like CNC or robotic controller. Do not waste your energy trying to enter in those application.

TrajeXia is NOT a PLC. Although it can control a number of I/O’s, when the amount of IO to control is large, sometimes is easier to install a small PLC for this.

TrajeXia Overview: Typical applicationThe natural Omron market in Europe, for historical reasons, has been packaging.

HORIZONTAL FLOW WRAPPER:

TrajeXia Overview: Typical application

HORIZONTAL FF&S SACHET MACHINE:

TrajeXia Overview: Typical application

END LOAD CARTONER:

TrajeXia Overview: Available documentation

To support you in the sales and commisioning of the product we have next documentation available:

TrajeXia Combi: Commercial information based in ‘TrajeXia you decide’.

Contains the Datasheet also

TrajeXia Datasheet: Product specification and ordering information

in a quick and easy way.

TrajeXia Overview: Available documentation

Manuals are splitted in 3. Landscape format to fit in a PC screen.

Quick reference guide: Just the information to connect and move a Trajexia system in 10 minutes

Hardware reference: All the necessary hardware information plus

the Trajexia internal architecture.

Programming reference: All what you need to program an application: Command and program reference. Communication protocols. Examples …

TrajeXia Overview: TrajeXia Minisite

www.trajexia.com

It is the second Omron Minisite, after the one from the NS’s

http://www.trajexia.com/

CONTENTS

TrajeXia OverviewHardware and general specificationTrajeXia ToolsTrajexia ArchitectureProgramming TrajeXiaHow I do… with TrajeXia?CommunicationTrajeXia success histories

CONTENTS: Hardware and general specification

-Power supply-CPU Modules-Axes Modules-Communication modules-Mechatrolink bus overview-Mechatrolink nodes-Unit connection rules-System Autoconfiguration

TrajeXia Hardware: TrajeXia General Specification

TrajeXia Hardware is manufactured in Omron Europe facilities and follows the OMRON quality standards and specification.

General specification and testing are same that for our PLC’s

TrajeXia Hardware: TrajeXia General Specification

TrajeXia Hardware: Power supply

Omron’s standard CJ1 family Power supply can be used. We recommend to use CJ1W-PA202 (because it is enough for nearly all configuration).

MODEL SUPPLY POWER

CJ1W-PA202 85-264 Vac 14 W

CJ1W-PA205R 85-264 Vac 25 W

CJ1W-PD022 24 Vdc 16.6 W

CJ1W-PD025 24 Vdc 25 W

NOTE: If you are using the 5V encoder supply in more than 3 FlexAxis at the same time, maybe you have to use the biggest PSU.

TrajeXia Hardware: CPU Unit

The CPU Unit is the “Brain” of the system. You need one CPU Unit in your system.

All the intelligence of the system is here. For making the system working you need to make and execute programs in the CPU.

We have two CPU Models:

- TJ1-MC16

- TJ1-MC04

The only difference is the number of supported real axes.


TJ1-MC16

TJ1-MC04

16 AXES. According to the hardware configuration, any axis can be:

• Mechatrolink axis if the node exists

• Analogue axis if the Flexible-Axis card is installed

• Virtual axis if there is no hardware associated.

16 AXES. According to the hardware configuration, the limitation are:

• Up to 4 Mechatrolink or Analogue axis depending on the hardware

• A 5th Analogue axis is possible if you install the necessary Flex-Axis.

• The rest of the axes are only Virtual.


And TJ1-MC04

Those are the general specification of the CPU UNITS


Very important information!!!

The TJ1-MC__ can control:

- Up to 8 AXES at 0.5ms cycle time

- Up to 16 AXES at 1ms cycle time


Ethernet is the way to program Trajexia.Ethernet is Standard in all new

computers, Open, Cheap and Affordable wordwide.

Standard RJ45 Ethernet cable (crossed or direct Trajexia autodetects physical media) is the only cable required to program Trajexia.

I.P. scroll Indicator

RJ45 Ethernet connector with embedded LED’s for diagnostics.

– Plug&Play: a) Connect the cable (LED display will show Trajexia’s IP addressb) Be sure that Computer and Trajexia are in the same IP range.

– Use Trajexia tools to program your Trajexia device.


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ETHERNET IS THE PRESENT

Trajexia has been designed with a separated PCB for the Ethernet communication (protocol board). This gives more potential to develop any Ethernet protocol that the market request.

IMPLEMENTED PROTOCOLS

• TELNET for the programming tool

• FINS SERVER (for general data transfer)

• FINS CLIENT (for general data transfer)

• MODBUS-TCP

• ETHERNET-IP UNDER DEVELOPMENT


EMBEDDED SERIAL PORTS

When simple low cost communication is required. Both ports are independent.

RS232/485

Serial Port Conmector (CN2)

The serial port uses a 9 pin D connector, to access both physic ports RS232 & RS485

RS485 Switches.

Set left Set right

Top switch Termination ON Termination OFF

Bottom switch RS485 Multi-drop RS422 Point to Point


Alphanumeric Display

Display Mode/Text Notes

When you connect the Ethernet cable, the current IP Address of the TJ1- MC16 is displayed. The display cycles through each of the four parts of the address in sequence. The default address would display as follows: 192 168 000 250 blank (first time after power on, it displays the subnet mask also.)

After this sequence Display will show: STATUS INFORMATION. Check ‘Error’ description in case of ‘Err xxx’ appears in the display.

STATUS INFORMATIONOFF Drive disabledRun Drive enabledErr A<Axis Number> Axis errorErr U<Unit Number > Unit errorErr C<Error Number > Config. status


Hardware Overview: TJ1-MC16 (Processor)I/O LED’s

I/O LED’s can be configured by user (DISPLAY command) according to the following table:

Example: DISPLAY = 5, see the programming guide for details.

1

Backup battery

CJ1W-BAT01

Same model than in the PLC’s

The backup battery keeps- Programs- Global variables

Programs and Global variables can be stored in EEPROM memory also for permanent storage (Recommended for finished applications).


I/O Connector (CN-3)The 28 pin connector is a screwless Weidmuller connector.


I/O Connector (CN-3)Inputs are both PNP or NPN


Outputs are PNP

PA202 TJ1-MC__ TJ1-TER

Serial Motion BUS

A TrajeXia system must finish with a Bus terminator. No functions are associated with the TJ1-TER Terminator other than to ensure the correct operation of TrajeXia's internal Serial Motion BUS bus.

The Serial Synchronous Motion BUS is exclusive design for Motion Control systems.


FROM THE BOX:

When you order a TJ1-MC__ In the box it is included the next hardware:

- TJ1-MC__ Unit

- DB-9 male connector

- IO connector

- TJ1-TER

- White clip (to substitute the Yellow one in the PSU)

- 2 x Metal DIN rail clip.


The TJ1-ML__ is a Mechatrolink master interface.

It translate messages from and to the CPU to the different Mechatrolink nodes.

Mechatrolink is an open bus designed by Yaskawa specifically to control Motion.

The Mechatrolink bus is transparent for the TrajeXia programmer. You have access to the different devices connected to the bus in a transparent manner.

TrajeXia Hardware: Axes Module: TJ1-ML__

The TJ1-ML__ MECHATROLINK-II Interface Unit is a digital multi axis network that is able to control up to 16 devices (or nodes) in real time. A single interface cable is connected to the the first drive with a daisy chain to the other nodes, the network finishes with a Terminator resistor.


There are two Mechatrolink Interfaces

• TJ1-ML16 can support up to 16 Mechatrolink nodes

• TJ1-ML04 can support up to 4 Mechatrolink nodes


One Mechatrolink node can be:

• Servodrive: This is considered an Axis in TJ1-MC__

• Inverter: Handled via special Basic commands in the TJ1-MC__

• IO unit: The Digital and Analogue IO’s are mapped transparently in the TJ1-MC__

• Each Mechatrolink Interface Unit constitutes a network controlling up to 16 nodes.• All Mechatrolink nodes have an unique address selected by a switch on the node. In case of ServoDrive, the address selected determine the axis number.• Mechatrolink axes can be run in three modes: Speed, Position and Torque modes, depending on the servodrive model.• There can be up to 8 non-servo Mechatrolink devices attached.


Also Junma-ML and the Omron versions (W and W-Mechatrolink),

in the future… Sigma-V (now is supported as it was a Sigma-III)


Very important information!!!

The TJ1-ML__ can control:

- Up to 4 NODES at 0.5ms cycle time*

- Up to 8 NODES at 1ms cycle time**

- Up to 16 NODES at 2ms cycle time**


*Only for Sigma-III (W-Mechatrolink) drives

**TJ1-ML04 supports only 4 nodes at any cycle time

LED indicator-RUN: Green lit means Unit OK-BF (Bus Failure): Red lit means Mechatrolink communication error.


Mechatrolink Bus connector.USB type. The bus terminator is embedded.

The TJ1-ML__ does not need any setting from the TJ1-MC__At power-up, the TJ1-ML__ autodetect all the nodes in the Mechatrolink network.

TrajeXia Hardware: Axes Module: TJ1-FL02The Flexible Axes Module is an Axes interface that allows to control 2 axes with an analogue interface, that is:

• +/- 10V analogue speed reference + incremental encoder feedback (line Driver).

• Line-driver encoder output.

• Stepper pulse output.

• +/- 10V analogue speed reference + absolute encoder feedback (SSI, EnDat and Tamagawa protocols are supported).

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TrajeXia Hardware: Axes Module: TJ1-FL02This allows to control any kind of actuator like:

• Inverter in position control

• Stepper motors

• Competitor servodrives

• Hydraulic actuators (Proportional valves)

• External master encoders

• …

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TrajeXia Hardware: Axes Module: TJ1-FL02

Flexible Axis parts

LED indicators

Encoder & pulse connector for both axes.

Analogue output and auxiliary digital IO’s for both axes.


The meaning of the LED’s can be configured by the AXIS_DISPLAY parameter as follows


ENCODER CONNECTOR (High density DB-15)

The meaning of the Pins change depending on the Axis mode.


ANALOGUE OUTPUT CONNECTOR (High density DB-15)

The Inputs and outputs can be used as general purpose also.

The TJ1-FL02 supports cycle times of 0.5, 1 & 2 ms


TrajeXia Hardware: Mechatrolink bus

MECHATROLINK-II is an open communication bus specially designed for motion control.

Although the bus is transparent to the user (you do not have to take care about how it is working) it is good to know a few data.

One bus for motion must be:

- Short message.

- Very quick.

- Deterministic.

TrajeXia Hardware: Mechatrolink busSHORT:

32 bytes/node

QUICK:

10Mb Bus. With this we get:

4 [email protected], 8 nodes@1ms, 16 nodes@2ms

DETERMINISTIC:

Broadcast messaging assures that the relevant information (position usually) is captured and executed at the same time in all nodes. Jitter of about a few ns

Broadcast: Latch current position

Read Ax1 position Read Ax2 position ... Read Axn position

... Write Ax1 target Write Ax2 target ... Write Axn target Broadcast: Execute position loop

TrajeXia Hardware: Mechatrolink busHARDWARE CHARACTERISTICS:

Daisy chain topography terminated with a resistor. If one node breaks-down, the communication with the rest is not stopped.

50m maximum distance (+ 50m using a repeater).

Cheap compared to others.

Node address by switches in the nodes.

TrajeXia Hardware: Mechatrolink nodes

Three kind of Mechatrolink nodes:

- Servodrives

- Inverter

- IO Modules

• A node (or device or station) is a MECHATROLINK-II slave connected to a TJ1-ML__. There are three types of nodes.

• Every node is defined by its “Node number” (selected in the slave by the rotary and dip switches) and node type.

Node Type Mechatrolink node addres

SERVO Node nº + 40h

INVERTER Node nº + 20h

I/0’s Node nº + 60h

TrajeXia Hardware: Mechatrolink nodes

SUPPORTED SERVODRIVES:

Sigma-II + NS115 (or OMRON W-Series

Sigma-III with embedded ML-II (W-Mechatrolink)

Junma-ML

Possible “node number” 1 to 16 (station address 41h to 50h)

Every SERVO is considered a TrajeXia AXIS. STATION

ADDRESSAXIS NUMBER

SERVO MODELSERVO FIRMWARE

•AXIS_NUMBER=“node_number”-1

TrajeXia Hardware: Mechatrolink nodes. Servodrive

Position mode. The TJ1-ML sends position command to the servodrive every cycle. The position loop is closed in the servodrive.

Speed mode. The Mechatrolink Unit will issue a speed command to the drive. The feedback is received from the motor via the drive.

Torque mode. The Mechatrolink Unit will directly control the torque on the motor. The drive control the motor in torque mode.

A mechatrolink Servodrive is one TrajeXia axis and uses certain processing time.

A servodrive via TJ1-ML__ can be controlled in the next modes (Junma-ML supports only Position mode):


The next information is sent cyclically every Mechatrolink cycle


Position command

Speed command* or

Torque command*

Command information

Position feedback

Selectable monitor

Status word

IO status word

From TRAJEXIA From SERVO

*Junma-ML only accepts Position commands.

The next information is not cyclical. The response take some cycles


Run/BB command

Reset alarms

Read/write parameter

…

Response to those non- cyclic commands.


• SUPPORTED INVERTER:

• V7 (MV) inverter with SI-T/V7, F7 or G7 with SI-T

• Possible “node number” 0 to 31(Station 20h to 3Fh)

• Inverter is NOT an AXIS one inverter do not use CPU time but uses a mechatrolink node.

TrajeXia Hardware: Mechatrolink nodes. Inverter

STATION

ADDRESS



Command information

Speed command or

Torque command

Status information

Speed feedback or

Torque feedback




Read/write parameter

Reset alarm

Response to those commands.


The mechatrolink interface is, in fact, a gateway from Mechatrolink to Modbus through the inverter DPRAM, that is asyncronously updated every 5ms.

AVAILABLE DEVICES:

• Yaskawa digital IO 64In/64Out (JEPMC-IO2310)

• Yaskawa 4 analogue output (JEPMC-AN2900)

• Yaskawa 2 analogue input (JEPMC-AN2910)

• Possible “node number” 0 to 31(Station 60h to 7Fh)

• The I/O devices are automatically mapped as TrajeXia I/O’s according to the Station address.

STATION ADDRESS

I/O MODELI/O FIRMWARE

TrajeXia Hardware: Mechatrolink nodes. IO’s

AVAILABLE DEVICES:

• OMRON Slice IO coupler (GRT1-ML2) supporting :

• All digital IO slices models

• All analogue IO slices models

• Automatic allocation of the Digital and Analogue IO’s

• Diagnostic & status.


Those are the I/O’s in the TJ1-MC16

16 Inputs

8 Outputs

16 Virtual I/O’s

Tip:

Virtual I/O’s are not related to real devices. Can be used as internal flags.


• I/O’s: When any I/O Station is attached, more I/O’s are automatically added, continuing from the last one.

Additional

I/O’s


TrajeXia embedded

I/O’s

The TJ1-PRT is a PROFIBUS slave unit. It provides the Trajexia system with an interface to a PROFIBUS master. The TJ1-PRT exchanges the contents global variables with the PROFIBUS master.

Nod

e Se

lect

ion

Prof

ibus

conn

ecto

r

Data

Data

TrajeXia Hardware: TJ1-PRT

Node Selection

Profibus connector

Units

Tens


LED Status


Technical specs are similar to the Profibus Slave module

TARGET: Customer will need MINIMUM converting Trajexia projects from/to Profibus to/from DeviceNet

TrajeXia Hardware: TJ1-DRT

Device-Net slave Unit

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Node Selection

DeviceNet connectorUnits

Tens

TrajeXia Hardware: TJ1-DRT

LED StatusTrajeXia Hardware: TJ1-DRT

SPECIFICATION

0 1 2 3 4 5 6PA202 TJ1-MC__

First unit from the left must be the PSUSecond unit must be a CPU Unit (TJ1-MC__)Last unit must be the bus terminator (TJ1-TER)Up to 7 expansion units (slots 0-6) can be inserted after TJ1-MC__.

Units can be arranged in any order, TJ1 CPU will autodetect all units by its order (Rotary switch for Unit No. is not needed in Trajexia BUS).

-1

TrajeXia Hardware: Connection Rules

Unit Number

0 1 2 3 4 5 6PA202 TJ1-MC16

-1


0 to 4 TJ1-ML16 units can be included.0 to 7 TJ1-FA2 units can be included (14 axes).0 to 1 TJ1-PRT or TJ1-DRT units can be included

•Unit number is assigned automatically according to its position respect on the CPU. CPU number is –1, the next one is 0, next is 1, etc.

•The UNIT configuration can be checked using the command:

PRINT COMMSTYPE SLOT(unit_number)


ATYPE COMMSTYPE number NameMechatrolink Master Module 31 TJ1-ML16- 32 For the futureFlexible Axis Module 33 TJ1-FL02Profibus Module 34 TJ1-PRTDeviceNet Module 35 TJ1-DRT

•MECHATROLINK-II cycle depends on the number of nodes/network:

0.5 miliseconds 4 nodes

1 milisecond 8 nodes

2 miliseconds 16 nodes

•CPU cycle depends on the number of axes. Nodes that are not servos do not affect to the CPU cycle. FlexAxis axes affect to the CPU cycle

0.5 miliseconds 8 axes

1 milisecond 16 axes


At the end, the cycle time must be the biggest value of both, Mechatrolink and CPU time. It is set by the reserved command

SERVO_PERIOD

An uncorrect setting may deal to a configuration error.

Axis TJ1-ML masters required for axesCycle 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 160.5 ms 1* 1* 1* 1* 2* 2* 2* 2* - - - - - - - -1 ms 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 22 ms 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1

Using several MECHATROLINK-II masters allows you to achieve Maximum cycle performance by adding MECHATROLINK-II units while keeping minimum cycle times.

*Only for Sigma-III (W-Mechatrolink) drives


Example considering only mechatrolink axes (no Flexible axes and no non-axis mechatrolink nodes).

At power-up, the system check all the hardware attached and make an autoconfiguration in the next order:

TrajeXia Hardware: System autoconfiguration

Power Up

Bus consistency

Unit detection

In TJ1-ML__ make Mechatrolink network scan detection.

Axis allocation

Digital IO allocation

Analogue input/output allocation.

It is possible to force a CPU initialisation by issuing an EX command.

It is possible to force a TJ1-ML__ initialisation by issuing MECHATROLINK(UNIT,0) command

The axes are allocated in the next sequence


First the Mechatrolink servos are allocated according to:

Axis_number=ML-switch address-1

Second, the Flexible axes are allocated in the free axes in ascending order starting from the unit more on the left.

The non allocated axes up to 16 remain as virtual axes.

Axes number are from 0 to 15.

When SERVO_PERIOD=500 (0.5ms) only axes 0 to 7 are considered.

DIGITAL IO


The MECHATROLINK Digital IO’s are mapped in ascending order according to the Mechatrolink node number as:

IN(Input_number)

OP(Output_number,ON/OFF)

ANALOGUE IO

The MECHATROLINK Analogue IO’s are mapped in ascending order according to the Mechatrolink node number as:

AIN(Input_number)

AOUT(Output_number)=value

CONTENTS


CONTENTS: TrajeXia Tools

-Installing the software-Connecting to TrajeXia-Software tool overview

Trajexia ToolsTrajexia Software Tools include all necessary tools to develop & work with Trajexia in same Installation Software. Stand Alone system is fully supported.

•Motion Perfect 2 (Trajexia Edition).

•Encryptor (Trajexia Edition)

•CX-Server

•CX-Drive (full)

Trajexia ToolsTrajeXia Tools is part of the CX-One software platform.

TrajeXia Tools share the same license with the CX-Drive.

If you have CX-Drive already installed in your computer you do not need a new license.

Trajexia Tools: Installing the softwareHANDS ON

LET’S INSTALL “TrajeXia TOOLS”

Trajexia Tools: Connecting with TrajeXia

HANDS ON: LET’S CONNECT WITH TrajeXia


Trajexia Tools: Software Tool overview.•Motion Perfect 2 (Trajexia Edition) Includes Parameter Upload/Download wizard that allows MECHATROLINK-II servodrives setup & maintenance.

•ServoParameters are saved within Trajexia project.

•This feature is only available in ONLINE mode.

1

2

3

•When other CX-Drive functionalities (like direct drive monitor, test run, tune, offline configuration...) are needed then CX-Drive software may be launched from the Parameter window

•CX-Drive will be opened.

•Notice CX-Drive & Motion Perfect Parameter window will work as separate tools, therefore Values need to be updated separately.

•Example: Pn202 is modified from Motion Perfect while CX-Drive is also running in the computer. Pn202 shown in both softwares will be different unless you refresh parameter information from Drive to CX-Drive.

Trajexia Tools: Software Tool overview.

Drive ‘RUN’ mode and ‘COMMISSIONING’ mode:•Each axis separately can be set to ‘Run’ or ‘Commissioning’ Mode some CX-Drive features will be disabled in ‘Run Mode’.

•Run Mode ‘CX-Drive is not allowed to alterate motion status’ because Trajexia CPU’s is owning the axis.

•Commissioning Mode: CX-Drive has full control of the axis. (Warning: Also Axis Motion). In this mode ATYPE becomes 0 (Virtual Axis)


HANDS ON

CHECK YOUR TrajeXia configuration


• After power ON or a reset (EX Command), the TrajeXia prints the detected configuration to the terminal


CONTENTS

TrajeXia OverviewHardware and general specification TrajeXia ToolsTrajexia ArchitectureProgramming TrajeXiaHow I do… with TrajeXia?CommunicationTrajeXia success historiesApplication discussion

CONTENTS: Trajexia Architecture

-TrajeXia processing architecture-Program execution. Tasks and multitasking-Axes in TrajeXia-Motion buffers & Task buffer

Program BufferProgram Buffer

BASIC PROGRAMSTask 1

Task 2

Task 3

…

Task 14

Comms


Task 2

Task 3

…

Task 14

Comms

TJ1-MC__

MC I/O

AXIS TYPEAXIS TYPE

ML_POSITION

TJ1-ML__TJ1-ML__ML command

Servo drive.

MOTOR

ENC

ML_SPEED

ML_TORQUE

AXIS CONTROL LOOPAXIS CONTROL LOOP

Position Loop

Position Loop

Motion command

Position Loop

Position Loop

Speed LoopSpeed Loop

Torque Loop

Torque Loop

Buffer & profile

gererator

Buffer & profile

gererator

Trajexia Architecture: Processing architecture

TRAJEXIA GENERAL BLOCK DIAGRAM

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There are three main concepts to have clear in TrajeXia:

1.- Programs and multi-tasking.

2.- Concept of Axis

3.- Buffer system

All this working around a system of “interruptions” based on the SERVO_PERIOD.

CPU Motion Loop:

0.5/1/2 ms

•TJ1-MC16 CPU and Trajexia BUS are Synchronous ( 0.5 ms /1 ms/ 2 ms)

•TJ1-ML16 updates MECHATROLINK-II Network ( 0.5 ms/ 1ms / 2 ms)

•The cycle time for the CPU and the ML-II is same and fixed with the SERVO_PERIOD command. You must set it manually and cycle power to become effective.

MECHATROLINK-II

0.5/1/2 ms

Systems with Sigma-II and Junma-ML servodrives can’t be set to 0.5 ms servo_period !



•Trajexia TJ1 is able to handle up to 14 programs

•A program is a piece BASIC commands language arranged to be executed by the Trajexia controller•When program starts to ‘RUN’ then becomes a Process (or Task).

•Priority (0-14) is assigned to each process. (0-12) Low, (13-14) High.


•But TrajeXia has only one microprocessor so, the multitasking is, in reality, a time- sharing strategy.

•In TrajeXia, every action you do corresponds with one program command.


-Motion sequence

-Low priority Task execution (0,1,2,3,..).

-Internal communication.

-High priority Task execution (13,14).

-Motion sequence

-Led update.


- Communication & other background tasks.

1

2

3 Loop

tim

e =

1 m

sLo

op ti

me

= 1

ms

Loop

tim

e =

1 m

s

Task Interrupts In Detail: 250 μs

4

Trajexia Architecture: Processing architectureSERVO_PERIOD=500

-Motion sequence




-Led update.



1

2

3

Loop

tim

e =

1 m

sLo

op ti

me

= 1

ms

Loop

tim

e =

1 m

s


4


-Motion sequence




-Led update.



1

2

3

Loop

tim

e =

2 m

sLo

op ti

me

= 2

ms

Loop

tim

e =

2 m

s


4


•Each Process (running Program) is executed in a CPU Task.

•TrajeXia’s processor cycle time consists of 1 ms with four interruptions each 250 microseconds.

•Motion loops are updated according SERVO_PERIOD

High TASK #1 High TASK #2Low TASK COMS

1ms

Profile & Loops each SERVO_PERIOD

Processes

Trajexia Architecture: Task and Multitasking

High TASK #1 High TASK #2Low TASK COMS

ALL cycle=1ms

Low Priority Processes are executed in Low TASK

Motion Loops and BUS

In High TASKS #1 and #2 High Priority Processes are executed. If there are no High Priority Processes in Stack then Low Priority Processes are executed

General Communications (not related to Motion Networks) are updated each cycle = 1ms)



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This is the task assignment. A task is a ‘container’

where a Basic program is executed (Process)

Task 13 & 14 are high priority.

Task 0 is for the PC communication (terminal window).

Task 1, 2, ..,12 are low priority tasks.

13 13 13 1314 14 14 14

14 14 14 14

Example:Trajexia Architecture: Task and Multitasking

You can store up to 14 programs and run up to 14 tasks (14 programs running at the same time) in the TrajeXia.

RUN “Application”, 2IF DPOS>10000 THEN STOP ”Conveyor”

Programs can be stored in Flash EPROM using TrajeXia tool. Battery for backup is available.

Programs are edited in a Pseudo-Basic language with some specialised Motion instructions.


HANDS ON

Let’s test the Tasks priority


Program BufferProgram Buffer


Task 2

Task 3

…

Task 14

Comms


Task 2

Task 3

…

Task 14

Comms

TJ1-ML16

MC I/O

AXIS TYPEAXIS TYPE

ML_POSITION

TJ1-ML16TJ1-ML16ML command

Servo drive.

MOTOR

ENC

ML_SPEED

ML_TORQUE

AXIS CONTROL LOOPAXIS CONTROL LOOP

Position Loop

Position Loop

Motion command

Position Loop

Position Loop

Speed LoopSpeed Loop

Torque Loop

Torque Loop

Buffer & profile

gererator

Buffer & profile

gererator

Trajexia Architecture: Block diagram


One Axis is one structure with the next general (and simplified) block diagram.

The specific block diagram and behaviour depends on the Axis Parameter and the Axis Type. (ATYPE)

Profile generator

+

-

Position loop

Demandedposition

Measuredposition

Followingerror

Speedcommand

Speed loop

ON

OFFTorque

loopM

E

AXIS PARAMETER

Trajexia Architecture: Axes

Profile generator

DEMANDPOSITION

BASIC PROGRAM

.......

.......MOVE(1000)..............

CYCLE DPOS 0 01 252 1003 225… …97 987598 997599 10000

100 10000

The profile generator is a mathematical block responsible to calculate each Servo Cycle the target position (DPOS) for each axis.

The position profile is generated according to the motion instructions that are commanded via Basic Programs.


AXIS PARAMETER: define the behaviour of this axis.SERVO=ON enables the position loop.

AXIS MONITORING: gives information about the status of this axis. Updated countinuously

AXIS MONITORING: gives information about the status of this axis. Updated countinuously


Trajexia has several kinds of axis depending on its purpose and the hardware attached. The axes is selected with ATYPE

Axis Type DESCRIPTION0.- Virtual axis

40.- Mechatrolink position

41.- Mechatrolink speed

42.- Mechatrolink Torque

43.- Flex axis Step-Direction Pulses Output

44.- Flex axis servo (Analogue speed out, encoder input)

45.- Flex axis Line Driver encoder output

46.- Flex axis SSI encoder

47.- Flex axis EnDat encoder

48.- Flex axis Tamagawa encoder


ATYPE=0, VirtualA virtual axis is similar than the encoder output axis but without any external signal. No position loop is used, then, MPOS=DPOS and FE=0

Profile generator

MEASUREDPOSITION

DEMANDPOSITION

=


It is useful to have an internal ‘perfect’ master and to split a complicated profile in two more simple and sum later (see ADDAX command).

ATYPE=43 or 45, Encoder Output In axis 1 position profile is generated and outputted to the external world.

The difference between 43 & 45 is the type of pulsesNo position loop is used, then, MPOS=DPOS and FE=0

Profile generator

AXIS 1ATYPE=1

MEASUREDPOSITION TJ1-FL02

This axis type can be used just in the Flex Axis module. This is useful to control a motor via pulses or as a reference for another motion controller


ATYPE= 44 FLEX Servo Axis,Analogue speed output and encoder feedback input.

The axis position is updated every cycle from the Flexible Module.Flexible Module updates servo values in a negligible time ( 0 micros)Position loop is executed and the resultant speed reference sent to the servo driver via D/A converter in the Flex Ax module.

+

-Profile generator

Position loop

Demandedposition

Measuredposition

Followingerror

Speedcommand

Drive

M

E

+-10v

Encoder Signal

TJ1-FL02TJ1-MC__


ATYPE=44, Encoder input in flex axisPosition information from an external encoder for its use for linked movements.No Profile generator or Position loop is associated to this axis

– Is same than Flex servo axis with SERVO=0– DPOS=MPOS and FE=0

MEASUREDPOSITION

TJ1-FL02 TJ1-MC__


ATYPE=41 Mechatrolink speed

Profile generator+

-

Position loop

Demandedposition

Measuredposition

Followingerror

Speedcommand

S_REF

ML-II Speed

command

Speed Loop

Torque Loop

ME

TJ1-MC__ TJ1-ML__ SERVO

SERVO_AXIS (n) = ON/OFF

SERVOSERVO

SERVO


ATYPE=41 Mechatrolink speed• With SERVO=ON The position loop is closed in the CPU.

• Note that there is one cycle delay in the loop (we compare DPOSn with MPOSn-1).

• We send speed reference to the servodrive.

• With SERVO=OFF we send directly speed reference via S_REF command (40000000h means Maximum Speed).

•NOTE: To enable the axis we have to execute WDOG=ON (common for all axes)

S_REF

SERVO

Speed_Command


ATYPE=40 Mechatrolink position

Profile generator

+

-

Position loop

Demandedposition

Measuredposition

Followingerror

Speedcommand

NOP

ML-II Position

command Speed Loop

Torque Loop

ME

TJ1-MC16 TJ1-ML16 SERVO

Position LoopSERVO

SERVO

Trajexia Position Loop is desactivated. (Gains are not used!)


ATYPE=40 Mechatrolink position• With SERVO=ON The position loop is closed in the Servodrive. The gains in the CPU have no effect.

• We send position reference to the servodrive. (Calculated Profile)

• Note that although MPOS and FE are updated, the real value is the one in the servodrive (you can monitor it via DRIVE_MONITOR)

•With SERVO=OFF we keep the position, not possible to send speed reference

• NOTE: To monitor the following error in DRIVE_MONITOR, set DRIVE_CONTROL=2


ATYPE=42 Mechatrolink Torque

Profile generator+

-

Position loop

Demandedposition

Measuredposition

Followingerror

Torquecommand

T_REF

ML-II Torque

command

Torque Loop

ME

TJ1-MC16 TJ1-ML16 SERVO

SERVO

SERVO


ATYPE=42 Mechatrolink Torque

• With SERVO=ON The position loop is closed in the CPU. The torque reference in the servodrive depends on the FE and the gains.

• With SERVO=OFF we send directly torque reference using T_REF. 40000000h=Maximum torque.

• NOTE: To monitor the Torque in the servo in DRIVE_MONITOR, set DRIVE_CONTROL=11


Summary of Mechatrolink modes


WDOG SERVO ATYPE CONTROL MODE

OFF -- -- Servo in BB

ON 0 ML-POSITION Position lock

1 ML-POSITION Recommended for Positioning

0 ML-SPEED Recommended for Speed control

1 ML-SPEED Possible for Positioning

0 ML-TORQUE Recommended for Torque control

1 ML-TORQUE Not recommended

HANDS ON

Let’s check the different ATYPE’s


The link between programs and axis movement is the Buffer.The buffer is a temporary store of the motion instruction so the basic

program can continue its execution while the instruction is waiting in the buffer

DEMANDPOSITION

.......

BASIC PROGRAM.......MOVE(-500).......MOVE(1000).......CONNECT(1,1)

CONNECT(1,1) AXIS(2)

PROGRAM BUFFER (one per task)

NTYPE

MTYPE

Waiting to be executed MOTION COMMAND

Currently executed MOTION COMMAND

AXIS BUFFER (two per axis)

Profile generator

Trajexia Architecture: Buffers

There are three Buffer with a FIFO structure:MTYPE: Is the currently executed movement.NTYPE: Is the new movement waiting for its execution.Task buffer: Is a third buffered movement that can not be monitored. This third buffer is related to the task, not to the axis.

Once the instruction has been executed, it is loaded into the buffer in the next cycle.

If a fourth movement instruction has to be executed and the three buffers are full, the basic program stops its execution until the buffer is free.


Task 1 Program Buffer Axis 0

NTYPE MTYPE

WAITING EXECUTING

Each Task (14) has its own “Program Buffer”

Program Buffer Task 2

Task 3 Program Buffer






Axis 1NTYPE MTYPE

Axis 2NTYPE MTYPE

Axis 3NTYPE MTYPE

NTYPE MTYPEAxis 15

Each Axis (16) has its own 2 buffers: NTYPE & MTYPE


The concept of ‘Buffered movements’ is the system used to command movements from the Basic program to the Profile generator:

When MOVE(100) is finished

BASIC PROGRAM. . .MOVE (1000)

IF IN(3) THEN

MOVELINK (100,20,30,1)

OP(3,0N)

ENDIF

MOVEABS(home)

MOVEABS(end)

PROFILE GENERATOR

MTYPE: MOVE(1000)

NTYPE: MOVELINK (…)3

2

1Profile generator

(1) The movement is loaded in the MTYPE (currently executed movement), the profile generator start executing the movement.(2) If MTYPE is not empty the next movement is loaded in NTYPE waiting to be executed.(3) A third movement waits in the task buffer if there is another movement cannot be loaded and the program stops until NTYPE is empty.


BASIC PROGRAM.......MOVE(-500).......MOVE(1000).......DATUM(3).......MOVE(200).......

- - - ----------------------------------NTYPE IDLE---------------------------------MTYPE MOVE(-500)

BUFFER

MOVE -500


- - - ----------------------------------NTYPE MOVE(1000)---------------------------------MTYPE MOVE(-500)

BUFFER

MOVE -500


DATUM(3)---------------------------------NTYPE MOVE(1000)---------------------------------MTYPE MOVE(-500)

BUFFER

MOVE -500

2.- Second movement is loaded while the first one is still not finished. The new movement wait in the second buffer.

3.- A third movement can still be stored. If the basic program reach ‘MOVE(200)’ it will wait

1.- All buffers are empty and a movement is loaded. The movement start to execute.

EXAMPLE:EXAMPLE:EXAMPLE:Trajexia Architecture: Buffers

5.- As the sended movements are finished, the buffer is becoming empty.


- - - - - ----------------------------------NTYPE MOVE(200)---------------------------------MTYPE DATUM(3)

BUFFER

MOVE -500

MOVE 1000

DATUM (3)


- - - - - ----------------------------------NTYPE IDLE---------------------------------MTYPE MOVE(200)

BUFFER

MOVE -500

MOVE 1000

DATUM (3) MOVE 200

6.- If no new movements are ordered, finally, the buffer will become empty and the profile generator will remain inactive.

4.- The first movement has finished and the buffer is switched by one position. The next movement start to execute.


MOVE(200)---------------------------------NTYPE DATUM(3)---------------------------------MTYPE MOVE(1000)

BUFFER

MOVE -500

MOVE 1000


HANDS ON

Let’s check the buffer behaviour


CONTENTS


CONTENTS: Programming TrajeXia

-Program/project handling-Loops and sequence commands-Motion commands-Variables-Good programming practices

Programming TrajeXia: Project Handling

A TrajeXia project consist in the next files:

- A projectname.prj project file. Contains the information of the project.

- Several programname.bas that are the programs.

- One projectname.mdpd file. Contains the saved mechatrolink & inverter parameters


All the project files must be in a folder with the same project name

Every time you close TrajeXia Tools, a “backup” folder with a copy of the project is saved for possible project recoveries in case of problems.

The project does not contain information about the system configuration so this is not known when you work offline.


At the end, in TrajeXia, everything is done by executing commands in Basic programs

WHILE/WEND

WHILE IN(8) = 0‘...‘Do something‘...OP(8,ON)‘...

WEND

Programming TrajeXia: Loops and sequence

1) WHILE checks the condition at the beginning of the WHILE/WEND block.2) If the condition is not satisfied, the contents of the block is not executed.3) If the condition is true, the program “loops” the WHILE/WEND block until the condition becomes false.

REPEAT/UNTIL

REPEAT‘...‘Do something‘...OP(8,ON)‘...

UNTIL IN(8)=1


1) UNTIL checks the condition at the end of the REPEAT/UNTIL block. Note that the condition is reversed comparing with the WHILE/WEND loop2) The block is executed at least once, even if the condition is not satisfied.3) If the condition is false, the program “loops” the REPEAT/UNTIL block until the condition becomes true.

FOR a=8 TO 15 STEP 1‘...‘Do something‘...OP(a,ON)‘...

NEXT a

FOR/STEP/NEXT

1) The loop FOR/STEP/NEXT is unconditional.2) The block is executed a specified number of times determined by the initial and final values and the step


IF..THEN/ELSE/ENDIF

If the condition is matched the program execute the code after the THEN. If not, the code after the ELSE is executed.

The ELSE statement is optional, in this case, if the condition is not matched, no code inside the IF/THEN is executed.

If there is only one code line in the IF/THEN, the ENDIF is not necessaryIF IN(8) = 1 THEN OP(8,1)

IF IN(8) = 1 THEN

OP(8,1)

‘...

ELSE

OP(8,0)

‘...

ENDIF


Label/GOTO

Basic language uses ‘labels’ instead of the traditional line numbers.

A label consist on any non-reserved name followed by ‘:’

GOTO is an unconditional jump to a label.

Using GOTO is a bad programming practice because easily makes programs unreadable. Avoid this instruction as much as possible.

label:‘bla‘bla‘bla

GOTO label


GOSUB/RETURN A GOSUB jumps to a label but stores the original jump line in a stack.

The code after the label is executed until the RETURN instruction is found.

The RETURN instruction jumps back to the line after the original GOSUB.

Subroutines can be nested up to 8 levels.

Take care to not reach a RETURN instruction without a previous GOSUB.

....GOSUB subroutine....

....subroutine:........

RETURN


ON/GOSUB

If variable=1, the first subroutine (one) is called, if variable=2 the second subroutine (two) is called, etc.

If the variable value is bigger than the number of labels, no jump is performed.

ON ... GOTO, the unconditional version of this structure is available too.

ON variable GOSUB one,two,other

one:....RETURN

two:....RETURN

other:....RETURN


WAIT UNTIL condition

WA(1000)

WAIT IDLE/LOADED

Stops the program execution until the condition is TRUE. Stops the program execution Stops the program execution until the condition isuntil the condition is TRUE.TRUE.

Stops the program execution until all the movements in the selected axis are finished (movement buffer is empty).

Stops the program execution until all the movements in the selected axis are finished (movement buffer is empty).

Stops the program execution during the specified time (in ms). Stops the program execution during the specified time (in ms).


To control the position and performance of the different axis we have two different kind of commands:

Axis parameters:Used to select, adjust and monitor the different axis

Motion commands:Used, together with the profile generator, to create a motion profile in one or more axes.We can divide the motion instruction in two types:

Interpollated movements.Linked movements.

Programming TrajeXia: Motion commands

BASE(1)

SERVO=ON

DEFPOS(value)

Selects the axis which the motion instructions and parameters are referred to.

Closes the position loop. In a servo axis, the output of the position loop is written automatically as the speed reference to the servodriver. If SERVO=OFF, then, DPOS is automatically made equal to MPOS and you can command the speed using S_REF=value

Defines the current position as the specified value.


Set the Axis dynamics and behaviour.

Monitor the Axis status, position and others.

P_GAIN, UNITS,Etc...

MTYPE, MPOS,Etc...


An interpolated movement is a predictible movement. In the moment you launch the instruction you already know the future position profile.

BASIC COMMANDS:

MOVE(100)Incremental movement using trapezoidal speed profile.

MOVE(100)MOVE(100)Incremental movement usingIncremental movement using trapezoidal trapezoidal speed profilespeed profile..

MOVEABS(100)Absolute movement using trapezoidal speed profile.

MOVEABS(100)MOVEABS(100)Absolute movement usingAbsolute movement using trapezoidal trapezoidal speed profilespeed profile..

Speed

Time

Speed

Time

Pos=50 Pos=100 Pos=150


BASIC COMMANDS:MOVEMODIFY(150)Modifies the end position for a MOVE or MOVEABS movement currently executing.

FORWARD/REVERSEExecutes a continuous and never- ending movement in the forward or reverse direction.

CANCELCancel the currently executed movement following the ramps. The next movement in the buffer is loaded.

Speed

Time

Speed

Time

Pos=50 Pos=100 Pos=150

Speed

Time

CANCEL


DATUM(0)DATUM(0DATUM(0)) It is not an origin search instruction. Reset an axis error. It is not an origin search instructionIt is not an origin search instruction. . Reset an axisReset an axis error.error.

Command Movement Sequence

DATUM(1) Forward + Z phaseDATUM(2) Reverse + Z phase

DATUM(3) Forward + Origin=OFF + Reverse + Origin=ONDATUM(4) Reverse + Origin=OFF + Forward + Origin=ON

DATUM(5) Forward + Origin=OFF +Reverse + Z phaseDATUM(6) Reverse + Origin=OFF + Forward + Z phase

Command Movement Sequence

DATUM(1) ForwardForward + Z + Z phasephaseDATUM(2) Reverse + Z Reverse + Z phasephase

DATUM(3) ForwardForward + + OriginOrigin=OFF + Reverse + =OFF + Reverse + OriginOrigin=ON=ONDATUM(4) Reverse + Reverse + OriginOrigin=OFF + =OFF + ForwardForward + + OriginOrigin=ON=ON

DATUM(5) ForwardForward + + OriginOrigin=OFF +Reverse + Z =OFF +Reverse + Z phasephaseDATUM(6) Reverse + Reverse + OriginOrigin=OFF + =OFF + ForwardForward + Z + Z phasephase

Most machines needs to establish an absolute position referred to the mechanical system before start to work. This the related instruction for this purpose:


When the origin search sequence is finish, the current position is automatically set to zero. After that, the axis move during the deceleration ramp so, the stop position is not exactly zero

For DATUM(3) to DATUM(6) it is necessary to program one MC input as ORIGIN switch using:

DAT_IN=input_number

Example for

DATUM(3)

Example forExample for

DATUM(3)DATUM(3)

DPOS=0

Datum sequence is finished

Speed

Time

Switch

Time

After this the axis moves during deceleration


A linked movement is a movement that depends on the position of another axis.

The difficulty for this kind of movements is that the future position profile can not be predicted because depends on the master axis position. So, when they are cancelled, the movement stops abruptely without ramps.

The basic available instructions are:

CONNECT Synchronisation in position with a master axis.MOVELINK Synchronisation instruction that defines areas for

acceleration, following and deceleration.CAM Synchronisation instruction that follows an arbitrary

profile being the master a timebase.CAMBOX Synchronisation instruction that follows an arbitrary

profile being the master another axis.ADDAX Superimpose to one axis the movement of another

axis.


CONNECT ( RATIO, DRIVING_AXIS)

RATIO is the number of counts of the slave axis per every count in the master axis.

MASTER_AXIS is the number to define the master axis.

CONNECT ( RATIO, DRIVING_AXIS)CONNECT ( RATIO, DRIVING_AXIS)

RATIORATIO is the number of counts of the slave is the number of counts of the slave axis per every countaxis per every count in in thethe master axisaxis..

MASTER_AXISMASTER_AXIS is the number tois the number to define define thethe master master axisaxis..

1:1

1:2

2:1

Master Position

Slave position

1:1

CONNECT(1,1)

1:2

CONNECT(2,1)

2:1

CONNECT(0.5,1)

CLUTCH_RATE Defines a rate of change in the connection rate to make a ramp in the start and cancel of a CONNECT instruction. Note that this instruction is not deterministic in position.

CLUTCH_RATE Defines a rate of change in the connection rate to make a ramp in the start and cancel of a CONNECT instruction. Note that this instruction is not deterministic in position.


MOVELINK (DIST ,LINK_DIST, ACC, DEC, LINK_AXIS, ...)MOVELINK (DIST ,LINK_DIST, ACC, DEC, LINK_AXIS, ...)

DIST Total distance to move the slave axis.LINK_DIST Total distance to move the master axis.ACC and DEC mDistance made by the master while the slave is accelerating / decelerating. LINK_AXIS Master axis number.

DIST Total distance to move the slave axis.LINK_DIST Total distance to move the master axis.ACC and DEC mDistance made by the master while the slave is accelerating / decelerating.LINK_AXIS Master axis number.

Slave Speed

Time

Master Speed

Time

DIST

LINK_DIST

ACC DEC

The previous information is enough to fully determine the movement above. The previous information is enough to fully determine the movement above.


MOVELINK (DIST ,LINK_DIST, ACC, DEC, LINK_AXIS, <mode>,<distance>)MOVELINK (DIST ,LINK_DIST, ACC, DEC, LINK_AXIS, <mode>,<distance>)

•The next optional parameters give different possibilities to start this movement giving more power to the function. •The next optional parameters give different possibilities to start this movement giving more power to the function.

Slave Speed

TimeMaster Speed

TimeMARK

Slave Speed

TimeMaster Speed

Timedistance

Slave Speed

TimeMaster Speed

Time

Mode:1 The movement starts exactly in the

point where the registration mark in the master axis is detected.

2 The movement starts exactly when the master axis reachs the absolute position defined in <distance>

4 Movelink is repeated continuously and bidirectionally

5 Is the combination of 1&46 Is the combination of 2&4


MOVELINK (10,20,20,0,1)

+

MOVELINK (100,100,0,0,1)

+

MOVELINK (20,40,0,40,1)

=

MOVELINK (130,160,20,40,1)

MOVELINK (MOVELINK (10,20,20,0,1)10,20,20,0,1)

++


++


==


Slave Speed

Time

Time

EXAMPLE:EXAMPLE:EXAMPLE:Slave Speed

Master Speed

10

20

Slave Speed

Master Speed

Time

Time100

100

Master Speed

Time

Time20

40

Slave Speed

TimeMaster Speed

Time

130

20 40160


CAM ( START_POINT, END_POINT, K, DISTANCE)

START_POINT END_POINT The position profile is stored in TABLE variables (like it was an array), those parameters define the first and last point of the profile in the TABLE.K Scaling factor. As the profile works in counts, you can use this factor to work in your desired units or to scale your movement.DISTANCE Defines the time to execute the CAM together with SPEED: TIME=DISTANCE/SPEED

Slave Position

TIME

Table N. Table Value0 01 252 1003 225… …97 987598 997599 10000

100 10000


CAMBOX ( START_POINT,END_POINT,K,DISTANCE,MASTER,...)START_POINT END_POINT The position profile is stored in TABLE variables, those parameters define the first and last point of the profile in the TABLE.K Scaling factor. As the profile works in counts, you can use this factor to work in your desired units or to scale your movement.DISTANCE Defines the master incremental position to execute the position profile.MASTER Defines the master axis. Table N. Table Value

0 01 252 1003 225… …97 987598 997599 10000

100 10000

Slave Position

DISTANCE Master Position


CAMBOX ( START_POINT,END_POINT,K,DISTANCE,MASTER, <mode>,<distance>)CAMBOXCAMBOX ( ( START_POINT,END_POINT,K,DISTANCE,MASTER,START_POINT,END_POINT,K,DISTANCE,MASTER, <<modemode>,<>,<distancedistance>>))

<mode> and <distance> Those optional parameters have the same options and meaning that the equivalent ones in MOVELINK command. <<modemode> > andand <<distancedistance>> Those optional parameters have the same options Those optional parameters have the same options and meaning that the equivalent onesand meaning that the equivalent ones in MOVELINK in MOVELINK commandcommand..

EXAMPLE:EXAMPLE:

FOR a=0 to 360 STEP 1TABLE(a,500*SIN(a*2*PI/360))

NEXT a.....BASE(0)CAMBOX(0,360,1,1000,1,2,400)

The programmed profile is a complete (360º) SINUS.The profile will be performed by axis 0 (slave), the profile will start when axis 1 (master) will reach position 400 and will last for 1000 master units.

The programmed profile isThe programmed profile is a complete (360a complete (360ºº) SINUS.) SINUS.The profile willThe profile will be be performedperformed by by axisaxis 0 (0 (slaveslave), ), the profile will start when the profile will start when axisaxis 1 (master) 1 (master) will reach positionwill reach position 400 400 and will last forand will last for 1000 master 1000 master unitsunits. .

Slave Position

Master Position

500

400

1400


The hardware registration input allows to store the axis position exactly in the moment that an event occurs. This even can be:Rising or lowering edge of a registration input (fast input).Encoder Z marker occurence

The key point of this facility is that the position is captured in real time (not depending of the servo loop time or any other delay) and processed later.

Registration Input


This instruction is the ‘trigger’ for the registration input. Defines which is the event that will be used to latch the position and prepares the latch for the capture.

In a mechatrolink axis the registration is taken from a fast input in the servodrive. In a Flex-Axes axis, we have two registration inputs per axis.

More details in the next section of this presentation.

REGIST(x)REGIST(x) Hardware registration modeHardware registration mode


GLOBAL VARIABLES

- VR Memory area is 1024 elements size (static memory)

-TABLE Memory area is up to 64000 elements size (dynamic memory, one TABLE variable exists only from the moment it is used).

Eg. >>TABLE(2450,27) ‘Allocate in memory TABLE(0) to TABLE(2450)

Programming TrajeXia: Variables

VARIABLE DATA FORMAT

There are two data formats in TrajeXia

- Position data (MPOS, DPOS, …) is 32 bit signed integer

- The rest of the data is 32 bit floating point format (24 bit mantissa & 8 bit exponent)

Precaution should be taken with the resolution of the mathematical operation and the conversion to 32 bit integer!!!


VR Memory

- Used as global variables in programs.

- Used as Input/output registers in Profibus and DeviceNet communication.

- Used as communication registers with FINS communication.

- Used for data transfer in some mechatrolink axes command (like reading parameter.

- The value is kept at power-off by the battery. It can be saved in EEPROM on request.


Table Memory

- Used as global variables in programs.

- Used as communication registers with FINS communication.

- Used as profile data in CAM and CAMBOX .

- Used as data storage in the data trace (oscilloscope)

- The value is kept at power-off by the battery. It can be saved in EEPROM on request.


ASSIGNING NAMES TO VR VARIABLESIt is possible to assign names to VR variables and to use those names in all the programs. This makes the project much more readable.

GLOBAL “name”, VR_number

Eg.: you execute next command in one program (it is recommended to do it in the STARTUP program just after power up)

GLOBAL “product_length”,24

From now on you can use the name product_length instead of VR(24) in any other program in your project (not valid for the terminal window).

The use of VR(24) is still valid.


ASSIGNING NAMES TO CONSTANT VALUESIt is possible to assign names to constant values and to use those names in all the programs. This makes the project much more readable.

CONSTANT “name”, Value

Eg.: you execute next command in one program (it is recommended to do it in the STARTUP program just after power up)

CONSTANT “end_position”,2000

From now on you can use the name end_position instead of 2000 in any other program in your project (not valid for the terminal window).


Note: when you assign CONSTANT and GLOBAL in a program, no other program can be running.

Local Variables

• A local variable is only existing in a particular program.• It is not necessary to declare a global variable in TrajeXia, just using it for the first time allocates this variable.• The variables can have any name but only the first 16 characters are significant.• The variable do not have a definite value so, it is wise to initialize it to a known value

Myvariable=0


Our recommendation is to structure your project in the next way:

Programming TrajeXia: Good programming practices

STARTUP SHELL

APPLICATIONPROGRAM 1

APPLICATIONPROGRAM 2

APPLICATIONPROGRAM n

Proper Initialization of

the system.

Monitoring the integrity of the

system.

START/STOP/ RESET the application

STARTUP PROGRAM The STARTUP program is a BASIC program automatically generated by the TrajeXia tool. Its mission is to generate a program that checks at startup than the detected configuration is the right one and to initialise the axes with the right settings:


STARTUP PROGRAM In addition, we recommend that you set here the necessary intitialization of your particular system like:- Axes parameter- Servodrive parameters- GLOBAL/CONSTANT definition- Variable initialization


At the end of the STARTUP program you have to start the SHELL program.You have to set the STARTUP as the only program that runs at power-on.

SHELL PROGRAM The “Shell” program is one program that takes care of the integrity of the system, that is:- Stop all programs and movements at power-up- Run/stop the suitable application programs properly- Monitoring the system integrity (errors and alarms) and stopping the programs and movements in case of alarm.- Ensuring a proper reset after correcting the cause of the alarm.- Report the necessary diagnostics.


The Shell program must be running in a “low priority” task.The Shell program must not run any axis directly.

SHELL PROGRAM FLOWCHART


Stop Application programs and movements.

Yes

N o

Start Application programs

Alarm?

Start?

N o

Yes

Start_application

Alarm or Stop?

N o

Yes

Main_loop

Alarm?

Store status for diagnostics

Stop Application programs and movements.

Yes

N o

Alarm?

Reset Sequence

Reset?

Flowchart for the Shell program

VR(0)bit0

VR(0)bit1

VR(0)bit2

N o

Yes

CONTENTS

TrajeXia OverviewHardware and general specification TrajeXia ToolsTrajexia ArchitectureProgramming TrajeXiaHow I do… with TrajeXia?CommunicationTrajeXia success historiesApplication discussion

CONTENTS: How I do… with TrajeXia?

-Axis configuration, initialization and tuning-Axes handling-Fault handling-Unit setting according to your application-Homing-Registration-Inverter handling-Using inverter in position control

How I do… with TrajeXia?: Ethernet configuration

ETHERNET(Read/write,Slot,function,<data>)

Read=0 Write=1

Slot=-1 Means the TJ1-MC16 ethernet (only this option is valid)

Function= 0 IP address

2 Subnet mask

3 MAC address

8 Gateway IP

<data> is the new IP address


••ETHERNET COMMAND EXAMPLESETHERNET COMMAND EXAMPLES

ETHERNET(0,-1,0)

Display TJ1-MC16 IP address

ETHERNET(1,-1,2,255,255,240,0)

Set 255.255.240.0 as new subnet mask

Note: it is necessary to power cycle for those commands have effect.

How I do… with TrajeXia?: Ethernet configuration


•MECHATROLINK(…) COMMAND

The MECHATROLINK command has been designed to handle with the Mechatrolink master unit and its slaves.

Most of the Mechatrolink commands are handled internally by the system so you do not have to take care.

MECHATROLINK(<Unit>,<function>,[<data>,…])

How I do… with TrajeXia?: Axis configuration.

•MECHATROLINK(<Unit>,0)

• The selected unit performs an autodetection of the Mechatrolink nodes connected.

• This command is executed automatically after a power on or a CPU reset.

•This command prints in the terminal the detected devices.

• The detected servos are allocated in the corresponding axis number and the corresponding axis parameter set to default.

How I do… with TrajeXia?: Axis configuration.

NOTE: That this command does not initialize the FLEX-AXES or other Mechatrolink networks.

How I do… with TrajeXia?: Axis initializationAt power On, CPU Reset or MECHATROLINK(unit,0) (for Mechatrolink axes), the axis parameter return to its initial value.

If this default value is not the desired one (and for some parameter normally is not), you have to change them by program.

Usually the STARTUP program is the right place for this.

To read a servodrive parameter. In most cases Size is 2 bytes. The read value is stored in VR_num

DRIVE_READ ($Param_num, Size(bytes), VR_num)

DRIVE_WRITE($Param_num,Size(bytes),Value,[In_Eprom])To write a servodrive parameter.

In_Eprom =0 or not used means in RAM, =1 means in EPROM

How I do… with TrajeXia?: Axis initialization

The Mechatrolink servodrive and inverter do not change its parameter automatically because they are connected to TrajeXia.

So, the necessary parameter must be changed by program. Again, the STARTUP program is the right place for this.

Those commands returns 0 if command failed or -1 if command is succesful.

How I do… with TrajeXia?: Axis initialization

Code example for checking if one servodrive parameter is OK and changing it if necessary.

Reading/writing parameter takes several cycles and the program execution pauses until the command is executed so, do not mix with time crytical operation.

How I do… with TrajeXia?: Axis tuning

It is necessary to adjust the gains in TrajeXia and/or the servodrive depending on:

Servodrive model

Axis Type.

We develop different documents guiding about how to tune the system…

- Gain setting in TrajeXia (valid for Mechatrolink axes)

- Tuning the W servodrive (generic for servo)

- Tuning the MC402 (valid concept for analogue Flex-Axes.

When making positioning when the servodrive is ATYPE=41 (speed mode), the position gains are set in the TrajeXia CPU. The values in those parameter are very high due to the big value of the DAC (40 000 000H means Max. Speed)

Note that the default value is ok for 13 bit encoders but too high for 17bit encoder or more or for linear motor.

Nevertheless, for position control you expect better dynamics with ATYPE=40. WE STRONGLY RECOMMEND THIS MODE FOR POSITION CONTROL

•P_GAIN•VFF_GAIN

How I do… with TrajeXia?: Tuning

To disable one individual servodrive. This parameter makes a logical AND with the WDOG. Default value is ON

AXIS_ENABLE AXIS(n)= ON/OFF

How I do… with TrajeXia?: Axes handling

WDOG AXIS_ENABLE DRIVE STATEOFF OFF BBOFF ON BBON OFF BBON ON RUN

WDOG = ON/OFFGlobal RUN. Set all the axes to RUN at the same time.


REMEMBER:

To start moving one axis you need.WDOG=ONAXIS_ENABLE=ON

And, if you want to control position, in addition:SERVO=ON

When one axis has one alarm (FE, for example), WDOG=OFF, SERVO=OFF and the movements are cancelled in all axes.

DISABLE_GROUP allows to have this behaviour for group of axes. In one axis of one group has one alarm, the axes of this group are disabled but the other continues normally)

DISABLE_GROUP(-1) breaks all grouping

This is very useful for big machines with different functional parts.

DISABLE_GROUP(ax1, ax2, .. , axn)


Every mechatrolink cycle you receive two monitors from the servodrive. One is fixed to the feedback position and the other can be set and read with those commands

In DRIVE_CONTROL you select the data to be monitored in DRIVE_MONITOR. This value can be traced in the oscilloscope function.

DRIVE_CONTROL AXIS(n) / DRIVE_MONITOR AXIS(n)


•The next monitors can be selected:CODE DESCRIPTION 0 Position reference in the reference coordinate system 1 Position reference in mechanical coordinate system 2 Following error (this is the real FE when ATYPE=40 is used) 3 Feedback position in the mechanical coordinate system 4 Latch position in the mechanical coordinate system 5 Position reference in the reference coordinate (before filtering) 6 Target position in the reference coordinate system 7 Not used 8 Feedback speed (With Atype=41 Units=Max Speed/40000000H, with other

Atype Units= reference units/s 9 Command speed (units same than in Feedback Speed) 10 Target speed (units same than in Feedback Speed) 11 Torque (Force) reference (With Atype=42 Units=Max Torque/40000000H,

with other Atype Units= % over nominal Torque 12 Not used 13 Not used 14 Monitor selected with Pn813.0 15 Monitor selected with Pn813.1


For Sigma-II (W-Series) servodrive

BIT nº DESCRIPTION0 P_OT1 N_OT2 DEC Signal (selected with Pn511.0)3 Encoder Phase A4 Encoder Phase B5 Encoder Phase C6 EXT1 Signal (selected with Pn511.1)7 EXT2 Signal (selected with Pn511.2)8 EXT3 Signal (selected with Pn511.3)9 BRK Brake output10 Reserved11 Reserved12 IO12 (CN1 input signal selected in Pn81E.0)13 IO13 (CN1 input signal selected in Pn81E.1)14 IO14 (CN1 input signal selected in Pn81E.2)15 IO15 (CN1 input signal selected inPn81E.3)

•DRIVE_INPUTS AXIS(n)



DRIVE_INPUTS AXIS(n)

The recommendation to monitor all input in this word is to set: Pn81E=4321 & Pn511=654x

Pn511=654x

Pn81E=4321 CN1-40 DRIVE_INPUTS bit 12

CN1-41 DRIVE_INPUTS bit 13


CN1-43 DRIVE_INPUTS bit 15CN1-44 DRIVE_INPUTS bit 06





Pn511 SETTINGS

Pn511 assigns Physical inputs to the logical signals EXT1, EXT2 & EXT3, used in the registration. Only the “fast” inputs in CN1-44,-45 & -46 can be used.

Pn511.0 DEC (Not used by TrajeXia)

Pn511.1 EXT1

Pn511.2 EXT2

Pn511.3 EXT3

See the command description for details.



Pn81E SETTINGS

Pn81E assigns Physical inputs to the logical signals in bits 12 to 15 of the DRIVE_INPUTS, any input can be assigned

Pn81E.0Bit 12 in DRIVE_INPUTS

Pn81E.1 Bit 13 in DRIVE_INPUTS



See the command description for details.



DRIVE_STATUS AXIS(n)BIT nº DESCRIPTION 0 In Alarm 1 Warning active 2 Command ready 3 Servo On 4 Main power On 5 Machine lock (always 0) 6 In Zero point 7 Positioning Completed (position mode) / Speed coincidence (speed mode) 8 Output completion (position mode) / Zero speed (speed mode) 9 Torque limit 10 Latch completed 11 Position proximity (position mode) / Speed limit (torque mode) 12 Software positive limit 13 Software negative limit 14 Reserved 15 Reserved



MAPING MECHATROLINK SERVO INPUTS (Sigma-II)Following Inputs can be mapped if you need it in Trajexia:FWD_IN ( Servo Forward Overtravel Input)REV_IN ( Servo Reverse Overtravel Input)DAT_IN ( Servo External Home Switch Input)Feed_Hold (Servo Feed_Hold Signal Input).In the Axis Properties windows, select: 28,29,30 and 31 for each case. Those virtual inputs (28 to 31) match with the bits 12 to 15 in the DRIVE_INPUTS AXIS(n) respectivelly

1: Monitor SI0 (CN1-40) input terminal2: Monitor SI1 (CN1-41) input terminal3: Monitor SI2 (CN1-42) input terminal4: Monitor SI3 (CN1-43) input terminal

FW_INREV_INDAT_INFH_IN

Pn81E.0 IO12 mappingPn81E.1 IO13 mappingPn81E.2 IO14 mappingPn81E.3 IO15 mapping

Fixed relation

28293031

Config. in Servo Config in TJ1


••DAC AXIS(n) / S_REF AXIS(n)DAC AXIS(n) / S_REF AXIS(n)

Used to set the speed reference when we are in speed mode (ATYPE=41). The range is 40000000h = Max. Speed

••T_REF AXIS(n)T_REF AXIS(n)

Used to set the torque reference when we are in torque mode (ATYPE=42). The range is 40000000h = Max. Torque

S_REF

SERVO

Speed_Command

T_REF

SERVO

Torque_Command


AXIS_STATUS AXIS(n)

It is a bitwise word that shows the status of the axis

How I do… with TrajeXia?: Fault handling

AXIS_STATUS AXIS(n)

BIT 8= Following error error (E)Is set to 1 if there is any network error in a mechatrolink axisBIT 2=Network drive error (A)Is set to 1 if there is any network error in a mechatrolink axisBIT3=Remote drive error (M)Is set to 1 if there is any error in a mechatrolink axis (overspeed-A.51, drive disconnected, …

In this situation, there is an Axis error in the CPU, then:- The movement is cancelled- Servo is set to OFF- WDOG is set to OFF

In ALL the axes belonging to the same group


ERRORMASK AXIS(n)This word is a masked with the AXISSTATUS word in order to decide which bits generates one axis error. The default value is 268. This selects the bits explained before.


MOTION_ERROR

ERROR_AXIS

Contains a flag indicating if an axis error occurs

Contains the axis number that generated the error

DRIVE_ALARM(VR_number)Returns in VR(VR_number) the Mechatrolink Servodrive alarm code. Returns -1 if the command is executed succesfully and 0 if could not be executed.

DRIVE_CLEAR AXIS(n)Reset a Mechatrolink servodrive alarm (M)

DRIVE_RESET AXIS(n)

MECHATROLINK(<unit>,0)

DATUM(0)

Makes a software power off-on in the servodrive. Servodrive must be in ‘bb’.

Resets a ‘network’ alarm and make a new scan of the mechatrolink (A). Note that the axis parameter are reset to default values.

Resets an axis alarm (from the TrajeXia point of view)


How I do… with TrajeXia?: Unit Setting

In TrajeXia, the next parameter are used for setting your coordinate system according to your mechanical configuration.

UNITS AXIS(n)

REP_DIST AXIS(n)

REP_OPTION AXIS(n)

Scaling factor: x User_units x*UNITS Encoder_counts

Selects the value at wich your position counter overflows.

=0 the position counter goes from –REP_DIST to +REP_DIST=1 the position counter goes from 0 to +REP_DIST

With a mechatrolink axis, the Servodrive gear ratio is affecting to the units as follows:

1Unit command = 1 UNITS * Pn202 / Pn203 for the Sigma-II (WT)1Unit command = 1 UNITS * Pn20E / Pn210 for the Junma and Sigma-

III (WN)

So now it is possible to work with Gear ratio with infinite decimals like 1 : 27/3

Note that factory parameter of Pn202=4!!!

Note that the encoder resolution seen from Trajexia changes according to Pn202 and Pn203 so, it is not recommended to set values where: Pn202>>Pn203

How I do… with TrajeXia?: Unit setting

With a Flexible axis, use ENCODER_RATIO(Num,Den) instead of Pn202 and Pn203

1Unit command = 1 UNITS * Num / Den

And you obtain similar results than for the Mechatrolink axes.


•When an absolute encoder is used in an axis with a limited running distance, simply set Pn205 (Multiturn limit setting) and REP_DIST to a value higher than the running distance of the motor.

•When the axis is running always in the same direction (like feeders), we have to set the parameter in such a way that the overflow occurs exactly in the same position in the servodrive and in the TrajeXia.


HANDS ON

SETUP demo Units


DATUM

For most of the homing sequences you need an external homing switch. The logical approach is to use one input in the servodrive.You can set the virtual inputs 28 to 31 that corresponds with the bits 12 to 15 in the DRIVE_INPUTS AXIS(n) respectivelly

By inserting value 30 for DAT_IN , CN-42 is selected for DATUM INPUT (Sigma-II)

How I do… with TrajeXia?: Homing

••REGISTREGIST(signal) AXIS(n)(signal) AXIS(n)

The registration is done in the servodrive because it must be close to the encoder. There are 3 fast inputs capable to handle the registration (CN1-44, CN1-45 and CN1-46 in the Sigma-II)

How I do… with TrajeXia?: Registration

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Activate the registration with the next inputs (for Sigma-II):-1 Release the registration0 Encoder Z signal1 EXT1 (Selected with Pn511.1)2 EXT2 (Selected with Pn511.2)3 EXT3 (Selected with Pn511.3)

When the registration is triggered MARK=0 and, once the registration is detected, MARK=-1. Then we can read the value captured in REG_POS.

While MARK=0 it is not possible to read/write servo parameter


••REGISTREGIST(signal) AXIS(n)(signal) AXIS(n)The delays involved in the registration are:

SIGMA-II (W-T)(1ms cycle time) (3.5 ms)- Delay in triggering the latch: 0.625 to 4 ms (not critical)- Delay in receiving the LATCH: *up to 3.5ms (influent)- Delay in capturing the LATCH: 3μs (not critical)

SIGMA-III (W-N) (0.6-1.1 ms)- Delay in triggering the latch: 0.425 (not critical)- Delay in receiving the LATCH: 0.575(0.5ms_cycle) (influent)

1.075 (1ms cycle)- Delay in capturing the LATCH: 3μs (not critical)

*=Sigma-II internal loop+ Dualport_RAM+MechatroLink (1ms) Same as MC151 + MechatroLink-II cycle


•REGIST(signal+256) / REGIST(signal+768)•OPEN_WIN /CLOSE_WINThe windowing checking is done in the CPU so the sequence is

- Receive the latch information.- If the position is outside (inside) the window trigger the latch again.- Wait for the next latch.

0 20

OUTSIDE THE WINDOWOUTSIDE THE WINDOW

OPEN_WIN=20WINDOW

4010 30

CLOSE_WIN=40

INSIDE THE WINDOWINSIDE THE WINDOW OUTSIDEOUTSIDE

MARK=TRUEREG_POS=27MARK=TRUEMARK=TRUE

REG_POS=27REG_POS=27




The registration is done in the Flexible axis. There are Two independent registration that can be used at the same time.

How I do… with TrajeXia?: Registration in the FlexAx

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••REGPOSREGPOS••REGPOSBREGPOSB••MARKMARK••MARKBMARKB


In addition, you have the next commands to handle with the Registration functionality:

A MECHATROLINK-II connected inverter is not considered one axis. Inverter is a MECHATROLINK-II device. Then is not possible to control an inverter in a deterministic way. Just read/write parameter and command speed and torque.

The inverter supported are:•V7 (MV) with the SI-T/V7 board•G7/F7 with the SI-T board

The necessary settings are to set the command and the reference via Bus communication:INVERTER SETTING MV/V7 N3=3 N4=9 F7/G7 B1-01=3 B1-02=3

N4=1 (for CX-D test run)

How I do… with TrajeXia?: Inverter control

Next commands have been implemented to easy the inverter usage:

INVERTER_READ(<unit>, <station>, <function>, INVERTER_READ(<unit>, <station>, <function>, ……) )

INVERTER_WRITE(<unit>, <station>, <function>, INVERTER_WRITE(<unit>, <station>, <function>, ……) )

INVERTER_COMMAND(<unit>, <station>, <function>, INVERTER_COMMAND(<unit>, <station>, <function>, ……) )

During “run” mode INVERTER_COMMAND is controlled by Trajexia basic program and during “commisioning” it is controlled via FINS (user by software mainly)


INVERTER_READ(<unit>, <station>, <function>, INVERTER_READ(<unit>, <station>, <function>, ……) )

Read parameter:INVERTER_READ(<unit>,<station>,0,<p_num>,<p_size>,<vr>)

Read Alarm:INVERTER_READ(<unit>,<station>,1,<Alarm_num,<vr>)

Read Speed:INVERTER_READ(<unit>,<station>,2,<vr>)

Read Torque:INVERTER_READ(<unit>,<station>,3,<vr>)

Read inverter inputs:INVERTER_READ(<unit>,<station>,4,<from>,<length>,<vr>)


INVERTER_WRITE(<unit>, <station>, <function>, INVERTER_WRITE(<unit>, <station>, <function>, ……) )

Write parameter:INVERTER_WRITE(<unit>,<station>,0,<p_num>,<p_size>,<vr>,<mode>)

where <mode>=0 Just write<mode>=1 Write + enter<mode>=2 Write + enter + config

Write Speed:INVERTER_WRITE(<unit>,<station>,2,<value>)

Write Torque:INVERTER_WRITE(<unit>,<station>,3,<value>)

Note: the parameter address are same than the MODBUS addresses


INVERTER_COMMAND(<unit>, <station>, <function>, INVERTER_COMMAND(<unit>, <station>, <function>, ……) ) Alarm Clear:INVERTER_COMMAND(<unit>,<station>,1,<alarm number>)

Inverter control:INVERTER_COMMAND(<unit>,<station>,7,<operation signals>)

BIT VALUE COMMAND DESCRIPTION 0 0001H Run Forward 1 0002H Run Reverse 2 0004H Inverter multifunction Input 3 3 0008H Inverter multifunction Input 4 4 0010H Inverter multifunction Input 5 5 0020H Inverter multifunction Input 6 6 0040H Inverter multifunction Input 7 7 0080H Inverter multifunction Input 8 (Only G7) 8 0100H External fault 9 0200H Fault reset 10 0400H Inverter multifunction Input 9 (Only G7) 11 0800H Inverter multifunction Input 10 (Only G7) 12 1000H Inverter multifunction Input 11 (Only G7) 13 2000H Inverter multifunction Input 12 (Only G7) 14 4000H Fault history data clear 15 8000H External BB command



It is possible to use a Mechatrolink inverter as one TrajeXia Axis

Initial implementation already done

Profile generator

+

-

Position loop

MPOS

PG Counter 16bit value

error Speed & direction command

Gains (Prop and feedforward)

INV_CTL Speed Loop

Torque Loop

ME

TJ1-MC16 SI-T Inverter

SERVO

Position loop in TJ1-MC

PG Counter 32bit value


Allocates the inverter as:Axis (station_address-21Hex)(node 26Hex will be axis 5)

Inverter as axis is ATYPE=49

INVERTER_COMMAND(<unit>,<station_address>,8,1)

Note: INVERTER_COMMAND(0,$26,8,0) Will revert to the normal inverter mode

How I do… with TrajeXia?: Inverter controlThe latest TrajeXia Firmware already makes a basic support of this feature.The performance is limited.The loop is refreshed every Mechatrolink cycle, but the DPRAM is only asynchronously updated every 5ms.So, we have in practice 5ms cycle time with 1ms jitter.

CONTENTS


CONTENTS: Communication

-Integration in Omron Smart Platform-FINS Server-FINS Client

-Integration in Third party architecture-Profibus-DeviceNet

-Ethernet Telnet-Serial communication-New implementations

•Ethernet FINS•Serial Protocol•Profibus Slave•DeviceNet Slave(In 2006)•MECHATROLINK-II

Communication: Integration in Smart Platform

http://images.google.com/imgres?imgurl=http://www.europe.omron.com/Images/en/165_32244.gif&imgrefurl=http://www.europe.omron.com/en/cor/iab/home/product_catalog/Visualization_HMI/&h=227&w=298&sz=69&tbnid=4BvvqS-Lw00J:&tbnh=84&tbnw=111&hl=es&start=3&prev=/images%3Fq%3DNS%2BHMI%26svnum%3D10%26hl%3Des%26lr%3D%26rls%3DGGLG,GGLG:2005-46,GGLG:es

•Trajexia is designed to interface with OMRON’s PLC by using Ethernet FINS commands, also supports standard UDP protocols.

Industrial EtherNet

Switch

Programming Computer

CJ1 PLC withEthernet

Coorporative

I.T. Network

Remote Programming Computer

NS HMI


http://images.google.com/imgres?imgurl=http://www.aldis.ru/omron/products/terminals/ns1.jpeg&imgrefurl=http://www.aldis.ru/omron/products/terminals/&h=153&w=150&sz=23&tbnid=E8bgGDZDJQgJ:&tbnh=91&tbnw=89&hl=es&start=8&prev=/images%3Fq%3DNS%2Bomron%2B%26svnum%3D10%26hl%3Des%26lr%3D%26rls%3DGGLG,GGLG:2005-46,GGLG:es

•Trajexia can communicate directly (Ethernet) to PC’s, HMI’s, PLC’s

•Industrial Switches are recommended to allow multiple access points in Industrial enviroment.

Industrial EtherNet

Switch

Programming Computer

CJ1 PLC with

Ethernet

NS HMI



•Some EtherNet FINS commands are implemented in Trajexia

User Application Command DescriptionNS Terminal/ PLC 101 Read memory (e.g. TABLE or VR

memory)NS Terminal/ PLC 102 Write memory (e.g. TABLE or VR

memory)NS Terminal/ PLC 501 Retrieve name and version of the

MCX controllerOthers - Not to be Disclosed

*Other implemented Ethernet FINS commands should not be used by End User without OMRON supervision .


•FINS 0101 Read memory command

01 01 00 command

code var type

start address fixed number of

elements

var type 82 – TABLE memory in 16-bit integer format C2 – TABLE memory in 32-bit IEEE floating point format B0 – VR memory in 16-bit integer format

start address 0 ≤ start variable ≤ (amount of variables - 1) ≤ 0xFFFF number of elements

1 ≤ number ≤ (amount of variables - start address)


•FINS 0101 Read memory response (16 bit format)

01 01 00 00 command

code response

code 1st word elelement

2nd word element …

•FINS 0101 Read memory response (32 bit format)01 01 00 00 command

code response

code 1st dword elelement …

•FINS 0101 Read memory response codes0000OK

1101Var type invalid

1103Start address invalid

1104 Number of elements invalid


•FINS 0102 Write memory command

01 02 82 00 command

code var type

start address fixed total words 1st word

element 2nd word element

…

01 02 B0 00 command

code var type



…

01 02 C2 00 command

code var type

start address fixed total

dwords 1st dword element …

01 02 30 command

code var type

start address

bit num total bits bit

0/1


•FINS 0102 Write memory command

var type 82 – TABLE memory in 16-bit integer format C2 – TABLE memory in 32-bit IEEE floating point format B0 – VR memory in 16-bit integer format 30 – VR memory in bit format

start address 0 ≤ start variable ≤ (amount of variables – 1) ≤ 0xFFFF bit num 0 ≤ bit number ≤ 0x0F total words 1 ≤ total words ≤ (memory size – start address + 1) total dwords 1 ≤ total dwords ≤ (TABLE memory size – start address + 1) bit 00, 01 total bits 1


•FINS 0102 Write memory response

01 02 00 00 command

code response

code

•FINS 0101 Read memory response codes

0000OK

1101Var type invalid

1102 Start address invalid

1003 Bit number invalid

1004 Number of elements invalid


•FINS 0501 Read id

05 01 command

code opt. par

•Option parameter codes

- Controller name and version

0 Controller name

1 Controller version

2 Axis configuration


•FINS 0501 Read id response (no parameter)

05 01 00 00 … … command

code response

code 20 bytes controller name

padded with spaces 20 bytes controller version, padded

•FINS 0501 Read id response (parameter 2)

05 01 00 00 command

code response

code 1st axis 2nd axis

With parameter 0 responds with the name only, with parameter 1 responds with the version only.

•FINS 0501 Read id response codes0000OK

110C Parameter error


• IEEE 32 BIT FLOATING POINT FORMAT

We choose this format mainly because it is a WorlWide international standard. For details about the conversion, check the next link:

http://babbage.cs.qc.edu/courses/cs341/IEEE-754hex32.html


FINS Ethernet

• The new firmware version of the HMI and new software version of the CX-Designer supports already TrajeXia.

• CX-Designer V2.1 or newer

• HMI System V6.71 or newer

• Already included in the latest CX-One



HANDS ON: Let’s Try the FINS via HMI


Create a new HMI Project for the HMI.

Click in PT Communication Settings

Defining TrajeXia as a node in the HMICommunication: Integration in Smart Platform

Introduce the IP and subnet of the HMI

And Click in Add node


Introduce the IP and Node address for TrajeXia and Click OK

And Click in Add Host using the right button from Ethernet port


And define the node as a TrajeXia with the previously defined node number.


And use in similar way that you do with a PLC (using TABLE and VR as memory areas)


Ethernet FINS & with PLC’s


Basic PLC CJ1W-ETN21 EtherNet Unit SETUP

In this sample: Node 68 is the node number for Trajexia (IP 10.83.50.68)


PLC has 8 logic ports, Monitored by the following A memory areas:

Starting Adress Flag DescriptionA202 Busy OFF: Ready *Bit description*Bit description ON: Busy Bit 7: Port 7A219 Error OFF: Execution without error Bit 6: Port 6*Bit description ON: Error in command execution Bit 5: Port 5A203 - Error code in execution instruction port 0 Bit 4: Port 4A204 - Error code in execution instruction port 1 Bit 3: Port 3A205 - Error code in execution instruction port 2 Bit 2: Port 2A206 - Error code in execution instruction port 3 Bit 1: Port 1A207 - Error code in execution instruction port 4 Bit 0: Port 0A208 - Error code in execution instruction port 5A209 - Error code in execution instruction port 6A210 - Error code in execution instruction port 7


Instruction: CMND(490). CMND(490)

S

D

C

S (Command): PLC TJ1 FINS command.D (Response): PLC TJ1 Response to FINS commandC (Control): CMND Control data.

This instruction can be used to handle PLC-TJ communications.


CMND(490)

S

D

C

S (Command): This is the FINS command sent to TJ1 Device.Typical FINS commands are:

FINS 0101 Read Memory (TJ1 PLC)

FINS 0102 Write Memory (PLC TJ1)

01 01 00 command

code var type

start address fixed number of

elements

01 02 B0 00 command

code var type



…


Command Word in details: FINS 0101 (Read Memory)

S + 0 :

15 0

0101 Hex (Read Memory)

CMND(490)

S

D

C


Var Type Var Type HB Add. HB AddS + 1 :

15

0

LB Add. LB Add. 00 00S + 2 :

15

82 – TABLE memory in 16-bit integer formatC2 – TABLE memory in 32-bit IEEE floating point B0 – VR memory in 16-bit integer format

Trajexia’s First element (VR or TABLE) to be read. (HighByte)Address value is split in S+1 & S+2

Trajexia’s First element (VR or TABLE) to be read. (LowByte)Address value is split in S+0 & S+1

Always ‘0’

CMND(490)

S

D

C



S + 3 :

15 0

Number of elements to be read

1 ≤

number ≤

(amount of variables - start address)

CMND(490)

S

D

C



S + 0 :

15 0

0102 Hex (Write Memory)

CMND(490)

S

D

C

Command Word in details: FINS 0102 (Write Memory)



15

0

LB Add. LB Add. 00 00S + 2 :

15

82 – TABLE memory in 16-bit integer formatC2 – TABLE memory in 32-bit IEEE floating point B0 – VR memory in 16-bit integer format

Trajexia’s First element (VR or TABLE) to be read. (HighByte)Address value is split in S+1 & S+2

Trajexia’s First element (VR or TABLE) to be read. (LowByte)Address value is split in S+0 & S+1

Always ‘0’

CMND(490)

S

D

C




15

0

LB Add. LB Add. BitNum BitNumS + 2 :

15

30 – VR memory in Bit format Trajexia’s First element (VR) to be read. (HighByte)Address value is split in S+1 & S+2

Trajexia’s First element (VR) to be read. (LowByte)Address value is split in S+1 & S+2

Bit Num

CMND(490)

S

D

C



S + 3

15 0

Number of words/dwords/bits to be sent.

CMND(490)

S

D

C



S + 4

15 0

Data to be sent to TJ1

CMND(490)

S

D

C


S + 5

S + n


CMND(490)

S

D

C

D (Receive): Whenever a FINS message is sent to TJ1 an answer is expected containing:

FINS codeResponse Code (Hex)Response Data (if required)

Condition Response Code (hex)

All elements valid 0000: OK

Var type invalid 1101: no area type

Start address invalid 1103: address range designation error

Number of elements invalid 1104: address range over


C (Control): Is used to setup the CMND instruction. Control estructure is made of 6 words:

Command length (bytes)

Response length (bytes)

0 0 Target Network

Target Node Target Unit No.

port Retr.

Timeout

C + 0

C + 1

C + 2

C + 3

C + 4

C + 5

CMND(490)

S

D

C


Control Word in details:Control Channel: C + 0.

C + 0 :

15 0

•Number of bytes is set to 8. To read memory areas from TJ1•Number of bytes is set to 8 + Data elements (in bytes). To Write in TJ1

CMND(490)

S

D

C


Control Word in details:

C + 1 :

15 0

Response size (Bytes).Allowed range:0001 to 07C6 (hex.): 1 to 1990 bytes.

Control Channel: C + 1.

CMND(490)

S

D

C



0 0C + 2 :

15 0

Target Network:•00 : Local.•01

to

7F (hex): 1

to

127

11 7 3

CMND(490)

S

D

C



0 0C + 3 :

(Target Unit Number)(Target Node Number)

Target Node Number:

00 to 7E (hex.): 0 to 254 (ETN).FF (hex.): broadcast.

Target Unit Number:

Allways: 00.

CMND(490)

S

D

C



0 0C + 4 :15 010 7 3

Number of Retries

Answer:0 – Required.1 – Not required.

8

PLC Com port NumberRange: 0 a 7

CMND(490)

S

D

C



C + 5 :

15 0

Time Out value:0000 (hex.): 2 sec.0001 to FFFF (hex.): 0.1 to 6553.5 sec.

CMND(490)

S

D

C


Sample for FINS Read ‘S’ Structure: CMND(490)

S

D

C

• #0101 means ‘FINS READ’ Command

•# B000 Hbyte (B0 VR Datatype) Lbyte (Address High part 00)

•# 0000 Hbyte (Address Low part) Lbyte (00)

•# 0032 50 elements to be read.

VR(0)


Sample for FINS Read ‘C’ Structure: CMND(490)

S

D

C

• #0008 Total Size for ‘FINS Read’ message to be Sent to TJ1 = 8 bytes (see previous slide TJ1_R_S_0 TJ1_R_S_3 (4 words= 8 bytes)•# 0068 (68 Hex = 104 Dec) Received Bytes in TJ1_R_D_0 TJ1_R_D_51•# 0000 ’00’ High Byte ’00’. Low Byte Local Network •# 4400 Node (44 Hex 68 Dec) ’00’. Low Byte fixed to ’00’ for TJ1•# 0201 ’02’ Com Port. ’01’ Retries•# 0000 TimeOut value

VR(0)


Sample for FINS Write ‘S’ Structure: CMND(490)

S

D

C

• #0102 means ‘FINS Write’ Command•# B000 Hbyte (B0 VR Datatype) Lbyte (Address High part 00)•# 0000 Hbyte (Address Low part) Lbyte (00) •# 000A 10 elements to be written •# 0003 First value to be written is (0003 Hex)• etc…

VR(0)

FINS Command

VR Data (10 words) PLC TJ1


Sample for FINS Write ‘C’ Structure: CMND(490)

S

D

C

• #001C Total Size for ‘FINS Write’ message to be Sent to TJ1 = (1C Hex=28 Dec bytes TJ1_W_S_0 TJ1_W_S_14 (4 Command words + 10 Data word)•# 0004 (04 Hex = 04 Dec) Received Bytes in TJ1_R_D_0 TJ1_R_D_1•# 0000 ’00’ High Byte ’00’. Low Byte Local Network •# 4400 Node (44 Hex 68 Dec) ’00’. Low Byte fixed to ’00’ for TJ1•# 0201 ’02’ Com Port. ’01’ Retries•# 0000 TimeOut value


RW_Toogle is a Bi-stable triggered by Port 2 ‘Busy’ bit Falling edge. This way Read & Write permission for CMND is swapped when Port is not busy.


Both CMND use same port, (2), but sequentially, never at the same time.

READ FINS

WRITE FINS


Function Blocks for CJ1 v.3.0 are in test phase. (Release: 2006)

•TJ1_FINS_WRITE

•TJ1_FINS_READ

CIO Area

VR/TABLE 1st word

VR 16 bit / TABLE 16/32 bit

Number of elements to be sent

Execution bit

Network, Node, Port


HANDS ON

Let’s Try FINS via PLC


Communication: FINS CLIENT

TrajeXia is able to initiate a FINS communication.

For this, a new FINSCOMMS command has been implemented:

This is ideal to optimize the communication flow when The event to be communicate is generated by TrajeXia

The supported FINS are “Read Variable” and “Write Variable”

• SERIAL PORT IN TrajeXia

For cheap and slow communication, the TJ1-MC16 has two embedded serial ports to a single DB9 connector with the next possibilities:

RS-232 & RS-422• Hostlink Master

• Hostlink Slave

• User defined protocol

RS-485• User defined protocol

The specification are same than those for the MCW151.

Communication: Serial Protocol

• Communication commands

SETCOM (baud_rate, data_bits, stop_bits, parity, port_number, mode)


• HOSTLINK MASTER COMMANDS

• USER DEFINED PROTOCOL COMMANDS

PRINT #port, GET #port KEY #port


HANDS ON

Let’s Try to communicate two TrajeXia via the Serial port


Integration in 3rd Party Arquitectures.•Trajexia is NOT a PLC (though shape and size is similar to CJ1).

•Trajexia MC system is designed and full dedicated to achieve HIGH performance in Motion Control.

•Trajexia OUTSTANDS when compared to traditional Motion solutions based on PLC.

•Trajexia is a valuable product even for non OMRON PLC customers who need RELIABLE MOTION SOLUTION.

•Trajexia is designed to be integrated in 3rd Party architectures, so will interface with Profibus & DeviceNet as a Slave Device.


Integration in 3rd Party Arquitectures.•Network Integration: ONE Connection

Ethernet physic layer (Same cable used for 3rd party installed PLC’s)EtherNet IP ProfiNet TCPIP / FINS

DeviceNet (as Slave Device)PROFIBUS (as Slave Device)

MECHATROLINK-II


• Profibus IN TrajeXia

Profibus communication with TrajeXia supports PROFIBUS V0, that is, just polling information.

- You select the number of inputs and output words in the master and those words are transmitted from/to VR variables to/from registers in the Profibus Master.

ERCERH

COMMBF

RUN

•LED’s

Communication: Profibus

Those are the commands you have to program from TrajeXia to make the Profibus working. The best place is the STARTUP program


We created a guide to setup the profibus connection with an Omron profibus master

HANDS ON

Let’s communicate TJ1-PRT with CJ1-PRM


The DeviceNet board has been designed in order to be as similar as possible to the Profibus.

So, if one customer uses TrajeXia in his machine and changes the PLC according to the customer requeriments (EG. Siemens with Profibus in Europe and Rockwell with DeviceNet in USA), the changes in Trajexia program are minimum.

Communication: DeviceNet

The next new communication protocols are being implemented:

Communication: New implementations

MODBUS-TCP (Slave)

Already implemented in firmware 1.6627. Uses the embedded Ethernet port in the CPU

ETHERNET-IP

UNDER DEVELOPMENT

CANOPEN

First prototypes of TJ1-CORT already available. IO profile (not for motion).

CONTENTS


• Target application with TrajeXia• TrajeXia is a general purpose Motion Controller. Has not been designed to fit an specific application (Unlike CNC’s or Robot Control)

• If you understand the TrajeXia philosophy, you can apply this Motion controller in a lot of different application

• Nevertheless, we expect TrajeXia to be very succesful in the packaging market.

TrajeXia success histories

FLOW WRAPPER MACHINE


• Some Ideas about using TrajeXia in Packaging industry:

• HORIZONTAL CARTONER MACHINE

•Sleeve wrapping machine

12 axes working at 1 ms cycle time


CONTENTS


CONTENTS


Documents

TrajeXia Training - myOMRON Training - … · TrajeXia Training. Carlos Ruiz, Application engineer. ... controller from OMRON. • ... TrajeXia is NOT a PLC