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1. 3 WHILE Insert snippet A code snippet consists of BASIC keywords and code snippet fields The code Snippet fields are placeholders for the expressions variables and statements that must be inserted to make the code syntactically correct For example the REPEAT code snippet inserts the following code REPEAT statement UNTIL expression In this code snippet statement and expression are code snippet fields They are placeholders for one or more BASIC statements and a BASIC expression respectively A code snippet field shows in a specific colour and it has an associated tooltip that shows if the mouse pointer hovers over the code snippet field 2 2 4 4 Generating variable declarations Note Trajexia Studio requires that all local variables in a program are declared before they are used If a local variable is not declared Trajexia Studio generates a warning when the program is built Motion Perfect 2 and the Trajexia devices do not require that local variables are declared Thus if you import a Motion Perfect 2 project in Trajexia Studio or if you transfer a program from a Trajexia device to Trajexia Studio you can have a program that has many undeclared local variables Trajexia Studio has a function that automatically adds a declaration for each local variable to a program You can choose this function with the Auto Variable Update command in the context menu of the code editor This adds the declaration of all local variab
2. Some solution items have a name Trajexia Studio assigns the name automatically when you add this solution item to the solution This name is item n where nis a sequence number You can change the name of a solution item This makes it easy to identify and find a solution item in the solution To change the name of a solution item perform the following steps 1 Righi click the solution item in the Solution Explorer 2 Select Rename 3 Type the new name for the solution item 4 Press ENTER The following rules apply for the name of a solution item e A valid name consists of letters digits and underscores Other characters are not allowed e The first character cannot be a number Trajexia Studio supporis the clipboard operations cut copy and paste for solution items To cut or copy a solution item perform the following steps 67 General operations in the Solution Explorer Section 3 8 68 Note Note Note Copy with drag and drop 1 Select the solution item in the Solution Explorer that you want to cut or copy 2 On the Edit menu select Cut or Copy To paste a solution item perform the following steps 1 Select the solution item in the Solution Explorer under which you want to insert the contents of the clipboard 2 On the Edit menu select Paste Trajexia Studio checks If the contents of the clipboard can be pasted under the selected solution item If it cannot be pasted the Paste menu item is disabl
3. 4 1 4 2 4 3 4 4 4 5 4 6 4 7 A E 69 Hardware CONMECIION cisma Ela a a a E eda aula amtonstas 69 Online ONCE DIS usa passando ts E E EE O EEEE 69 GONT Ono eaea a a a a A Ra a neadioanmadeater aes 69 OSOE MON SAO ias sos er o Nee e OA o a O er eee 70 MM OT a A A a 13 Other onlime ACHONS Did as coe ad sd DOG Pa CS A SST asa he ae eae 74 SECTION 5 OU BN ao ica 1 5 1 5 2 5 3 5 4 5 5 A RR NE E SR RR CRP A DIR A OR 19 DEC Is DONOS ate ad A O RO E E a E 19 Precu oncon Tokan nA aa O sot tice at Oech as O A O RO O da 80 W AU NC SE ass inasa O ndead eas ese bacaleseu ona otne 81 Terminal WO iss asas A D anos sn Ce PGS S AU a nan Ds 82 IV A A 1 A 2 A 3 A 4 A 5 A 6 A 7 A 8 A 9 TABLE OF CONTENTS Shortcut keys in the code CCitOr ccccccsssccccsssscccccssscccccsssscccesssses OD NAVIA A ia 85 A O O O a A 85 o A A O Hare totes e 85 aN OTS o AAA P Pe O a E on A 85 PP O 86 a A a o O a Da a rer 86 BASIC Commands and Ae SUIS INS sei aia 86 Clipboard and undo redo Operations cccccseesseeesseessseeeeseesesesseseeeeseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 86 SI ERON OO RE RO RPE PRP ah ase neaaduaos 86 REVISION DISTO LEY siccecestessiecsvccsscaceveciecseesscustasscccbseesabuckscovsetecccesseveuecssenesedesese O l Introducing Trajexia Studio Section 1 1 SECTION 1 Introduction 1 1 Introducing Trajexia Studio Trajexia Studio is a software tool designed to develop
4. 4 Select the program that contains the watch from the Program list This list is only visible when Symbol is selected in the Group list 5 Select the index of the variable to watch in the memory area from the Index list This list is only visible when VR Table Table or IO is selected in the Group list 6 Select the I O type of the watch digital or analogue input or output from the IO Type list This list is only visible when IO is selected in the Group list 7 Select the name of the variable to watch from the Name list This list is only visible when Symbol Constant or Global is selected in the Group list 8 Click OK The values in the lists in the Add Watch Item window are refreshed after a build For example if you add a variable to a program the variable does not show in the Name list in the Add Watch Item window until the program is built successfully 81 Terminal window Section 5 5 5 4 2 Viewing a watch To view the real time value of a watch Trajexia Studio must be in monitoring mode Trajexia Studio supports 2 ways to view the real time value of a watched variable when a program is running Inthe Watch window The Value column of the Watch window shows the value of the defined watches Inthe code editor When you hover the mouse pointer over a variable in the code editor a tooltip shows with the value of the variable SPEED i NEXT i i 6 0000 View watch in the code editor 5 4 3 Changing the value
5. e Trajexia Studio does not check if the code that you want to generate is already in the SHELL program If you add code for the same VR memory area twice the same VR statements are in the SHELL code twice You can change the added code The code generation for CAM table data works differently than the other code generations because the code for CAM table data is added to a read only section of the SHELL code This means that Trajexia Studio can check if the code already exists and it can remove the code from the SHELL program The user cannot edit the CAM table data code To add or remove CAM table data of one or more CAM tables to the SHELL program perform the following steps 49 Axes Section 3 5 3 5 3 5 1 50 Axes 1 Inthe Solution Explorer select the SHELL program 2 Select Insert CAM Table under Modify SHELL on the Programs menu The Insert SHELL CAM Tables window shows Insert SHELL CAM Tables CAM Table CAMT able1 CAMT able2 CAMT able3 Insert SHELL CAM Tables window If the check boxes of a CAM table has a check mark the SHELL program already has the code for this CAM table If it does not have a check mark the SHELL program does not yet have the code for this CAM table 3 Select the check boxes for the CAM tables for which you want to add the code to the SHELL program 4 Clear the check boxes for the CAM tables for which you want to remove the code from the SHELL program 5 Click
6. REP DIST select a repeat distance option with the option buttons and click Calculate To do a new calculation click Reset Note If the calculated values are invalid they show with a red background To copy the results to the Scaling Units tab and close the Scaling Units Wizard window click Accept The table below lists the actions that Trajexia Studio supports to configure the axis The second column in the table lists the corresponding buttons on the Axis Configuration window Generate code for the axis parameters and add Add Axis To Shell it to the SHELL program Generate code for the drive parameters and Add Drive Parameters To Shell add it to the SHELL program Execute CX Drive to tune the drive Launch CX Drive on the Tuning tab 1 See also section 3 4 5 3 5 4 2 Monitoring an axis The Monitoring tab of the Axis Configuration window gives feedback about the axis status when the device is online 54 Axes 3 5 4 3 Testing an axis Section 3 5 Axis Configuration R D ZNO1H ML2 0x41 Add Axis To Shell Add Drive Parameters To Shell Axis Configuration window Monitoring tab When an axis status bit is on the corresponding square is red When an axis status bit is off the corresponding square is gray On the Test Run tab of the Axis Configuration window you can test an axis to check if it is properly connected and configured To do this the device must be online and the axis must be associated to
7. Programs Section 3 4 Note It is recommended not to do the actions described above The reason that Trajexia Studio does not enforce the recommendations is to provide compatibility with legacy programs and motion applications However it is strongly recommended to follow the recommendations Trajexia Studio identifies the SHELL program of a motion device only by its name Therefore if you rename the SHELL program refer to section 3 8 it has the character istics of an application program for example the icon colour changes to the default col our Similarly if you change the name of an application program to SHELL it has the characteristics of the SHELL program for example Trajexia Studio provides tools to add the code for the definition of Table data to the program It is recommended not to rename the SHELL program and not to rename an applica tion program to SHELL 3 4 2 Adding a program Add program Note Note When you add a new motion device to the solution 2 programs are created by default the SHELL program and an application program called APPLICATION EB Programs SHELL APPLICATION Default programs SHELL and APPLICATION To add a new BASIC program to a motion device perform the following steps 1 Inthe Solution Explorer right click Programs under a motion device 2 Select Add SHELL Program to add the SHELL program or select Add Basic Program to add an application program The Ad
8. Show or hide the graph cursor I Click on the toolbar Change the X axis scale E Click on the toolbar and select a value for the X axis scale which can be the time or one of the 4 parameters Click A on the toolbar select Zoom In and drag the mouse pointer over the area in the graph view that you want to zoom in to Click a on the toolbar and select Zoom Out to zoom out one step or select Zoom Reset to return to the default zoom setting Select the pan mode in which only a por n tion of the graphs shows which can be Click 7 on the toolbar and select Pan dragged across the graph view Clear the pan mode so that the graph view shows the entire graphs o on the toolbar and select Pan 3 7 3 1 Load data The graph that a data trace window shows is drawn from the data trace values However you can also load values from 2 other sources in the data trace window to draw a graph e From a CSV file that contains previously saved data trace values To load data trace values from a CSV file click the L button on the toolbar and select a CSV file 65 General operations in the Solution Explorer Section 3 8 Note Froma Table memory area To load values from a Table memory area click the button on the toolbar The parameter list in the data trace window is replaced by a Table list in which you can enter the start address and the end address of the Table memory area Tracel Device1 v a slaa v H I
9. executed and the line is marked with a yellow background colour Watches Section 5 4 5 4 Watches A watch or a watched variable is a real time view of the value of a variable in a program Watches are useful to debug a program when the program does not behave as expected The Watch window lists the defined watches For more information on the Watch window refer to section 2 4 2 8 5 4 1 Adding a watch Drag variable Note Add watch Note There are 2 ways to add a watch to the Watch window e Select a variable in a code editor window and drag it to the Watch window e Select a variable in the Add Watch Item window To drag a variable from the code editor to the Watch window perform the following steps 1 Select a variable name in the code editor 2 Drag the selected text from the code editor to the Watch window If the selected text is not a variable name you cannot drop it in the Watch window To select a variable in the Add Watch Item window perform the following steps 1 In the Watch window click the Add Add Watch Item Device Devicel TJ1 MC16 Group Symbol Program SHELL Name rum ant Add Watch Item window 2 Inthe Add Watch Item window select a device from the Device list 3 Select the type of watch from the Group list Select Symbol to add a watch for a variable in a program Select VR Table Table Constant Global or IO to add a watch for the corresponding global data item
10. 0000 15 0 0000 16 0 0000 17 0 0000 aon OD j CMN I VR Memory window The VR Memory window has a tabular view that has the following columns The index of the variable in the VR array Global Name The alias for the index of the VR variable The value of the VR variable The item that uses the variable Possible values are the SHELL program the PRT unit and the DRT unit A description of the VR variable The columns Global Name Value and Description can be edited The columns Address and Usage are read only Refer to section 2 3 1 for information on how to edit a value in the VR Memory window The value in the Description column is not stored in the online device if it is synchro nised It is only stored in the solution You can change the display precision of the values in the Value column with the Precision property in the Properties window If you change the display precision Trajexia Studio does not change the value but only the display format of the value You can limit the number of rows that show in the tabular view to a user defined area of the VR memory with the Offset and Size properties in the Properties window The definition of the global name alias is equivalent to the BASIC command GLOBAL The command GLOBAL ratio 23 defines the variable ratio as an alias for VR 23 In a similar way the definition of an alias in the VR Memory window is reflected in the SHELL program If you add the variable var
11. 1000 1000 JOGSPEED 100 100 SPEED 1000 1000 Limits FASTDEC 0 0 FE_LIMIT 2000 2000 FE RANGE 0 0 FS_LIMIT 2E 07 2E 07 FWD_IN 1 1 OUTLIMIT 1 1 REY_IN 1 1 amp Axis Parameters window The Axis Parameters window has categorised list of commonly used axis parameters for all axes in the device The rows show the axis parameters the columns show the axes connected to the device The axis parameters are grouped together in categories The values of read only axis parameters are shown in gray The values of axis parameters that have errors are shown with a red background colour Editing a cell in the categorised list in the Axis Parameters window is similar to editing a cell in a tabular view Refer to section 2 3 1 for information on how to edit a value in a tabular view You can hide or show the parameters of axes in the Axis Parameters window The table below lists the actions to show or hide one or more axes in the Axis Parameters window The second column lists the corresponding commands on the shortcut menu of the Axis Parameters window INN ean Hide an axis Show all axes Show All Axes Select which axes to show or hide Select Axis 1 This command shows the Axis Selection window where you can move an axis to the Hidden Axis or the Displayed Axis list with the arrow buttons Global data Section 3 3 3 3 2 Constants Edit constants Note Note Axis Selection Hidden Axis Displayed Axis AI
12. 1013 14 0 0000 1014 15 0 0000 1015 16 0 0000 1016 17 0 0000 1017 16 0 0000 1016 CAM table window Value O O Y 5 Md 24 OU EL i x E The CAM table window has a tabular view that shows the values of the CAM table Refer to section 2 3 1 for information on how to edit a value in a CAM table window You can change the display precision of the values in the Value column with the Precision property in the Properties window If you change the display precision Trajexia Studio does not change the value but only the display format of the value The order of CAM tables in the Solution Explorer can be changed refer to section 3 8 The order of the CAM tables does not have an influence on the Table memory allocation The VR memory is an array of global variables These variables are called VR variables The VR memory array is an indexed array Its size is 1 024 and the indexes range from 0 to 1 023 The VR memory is used for small amounts of global data You can view and edit the VR memory in the VR Memory window To open the VR Memory window perform the following steps 1 Inthe Solution Explorer right click VR Memory under Global Data 2 Select Open 43 Global data Section 3 3 dd Note Note YR Memory Deyice1 v x Address Global Name Value Usage Description M 0 0 0000 zy 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 9 0 0000 10 0 0000 11 0 0000 12 0 0000 13 0 0000 14 0
13. Axis Configuration window shows the real time 52 Axes Section 3 5 values of commonly used axis parameters if the device Is online If the device is Offline you can change the value of the axis parameters and add the code to initialise them in the SHELL program Axis Configuration R D ZNO1H ML2 0x41 Configuration Monitoring Test Run General Scaling Units Tuning Dynamics Limits 10 Mapping Error Handling Axis Type ATYPE Mechatro Position v Drive Type Servo Family R7D ZN Model R7D 2N01H ML2 Firmware Version 0x1 Address 0x41 Motor ID Add Axis To Shell Add Drive Parameters To Shell Axis Configuration window Configuration tab The table below lists the tabs on the Configuration tab and the axis parameters and information they show Tab Axis parameters information ATYPE e The associated drive information UNITS REP_DIST REP_OPTION The gear ratio numerator and denominator of the associated drive Scaling Units wizard see below Encoder numerator and denominator flexible axis only ENCODER BITS and ENCODER CONTROL EnDat and SSI flexible axes only P GAIN GAIN D GAIN OV GAIN VFF GAIN Dynamics SPEED ACCEL DECEL CREEP Limits FE_LIMIT RS_LIMIT FS_LIMIT FASTDEC IO Mapping FWD IN REV IN DATUM_IN The drive mappings of the associated drive Intelligent assignment which automatically sets the drive map pings and restricts the possible drive mapping
14. Comment marks that are not at the start of the line are not removed 2 2 4 2 Inserting a command Trajexia Studio can insert a BASIC command in the program This is useful if you do not know the correct name or syntax of a command You can insert BASIC command with the Insert Command command on the Programs menu This shows the list of available BASIC commands This list supports incremental search which means that you can type the first letters of the command and the selection in the list scrolls to that command To insert the selected command double click it or press ENTER or TAB AOUT APPENDPROG ASIN v Insert command Note The shortcut key for Insert Command is CTRL SPACE 2 2 4 3 Inserting a code snippet A code snippet is a piece of predefined code that you can insert in your program The advantage of a code snippet is that you do not have to type the code manually which saves you work and avoids syntax errors in the code 11 Code editor Section 2 2 Trajexia Studio supports code snippets for these conditional commands and loop commands Code snippet BASIC command FOR ooo FOR TO STEP NEXT Ie IF THEN ELSEIF THEN ELSE ENDIF REPEAT UNTIL WHILE WEND You can insert a code snippet with the Insert Code Snippet command on the Programs menu This shows the list of available code snippets To insert the selected code snippet double click it or press ENTER or TAB Insert Snippet
15. Data window enter the start and end addresses for the Table memory areas for which you want to generate SHELL code 48 Programs Section 3 4 Note Add VR variables Note Add remove CAM table data Insert SHELL Table Data Start Address End Address 1000 1200 Insert SHELL Table Data window 4 Click OK For each selected Table memory area one or more lines TABLE start address value 1 value n are added under TABLE DATA in the Start Standard Section outline of the SHELL program To make the TABLE statements not too long one TABLE statement is generated per 10 memory addresses e Trajexia Studio does not check if the code that you want to generate is already in the SHELL program If you add code for the same Table memory area twice the same TABLE statements are in the SHELL code twice You can change the added code To add VR variables to the SHELL program perform the following steps 1 Inthe Solution Explorer select the SHELL program 2 Select Insert VR Variables under Modify SHELL on the Programs menu 3 Inthe Insert Variables window enter the start and end addresses for the memory areas for which you want to generate SHELL code Insert Variables Start Address End Address 10 18 Insert Variables window 4 Click OK For each VR variable in the selected VR memory areas the line VR index value is added under Variables in the Start Standard Section outline of the SHELL program
16. Flex x01 j 4 ML4x01 Axis Selection window A constant is a variable that is assigned a specific value that cannot be changed The maximum number of constants in all BASIC programs in a device is 128 You can view and edit the constants in the Constants window To open the Constants window perform the following steps 1 Inthe Solution Explorer right click Constants under Global Data 2 Select Open Constants Device1 v x Name Value status bits 901 0000 diag01 903 0000 diag02 904 0000 diag03 905 0000 unit_detection 906 0000 signal_state 907 0000 servo_status 910 0000 servo_alarm 911 0000 Constants window The Constants window has a tabular view of all constants and their values Refer to section 2 3 1 for information on how to edit a value in the Constants window You can change the display precision of the values in the Value column with the Precision property in the Properties window If you change the display precision Trajexia Studio does not change the value but only the display format of the value A constant definition corresponds to the BASIC command CONSTANT When the device or the solution is built a CONSTANT command is added to a read only section of the SHELL program for each constant definition in the Constants window If you add a constant definition to an application program with the CONSTANT com mand a warning is generated when the program is built 41 Global data Sect
17. MECHATROLINK II axis or a virtual axis Note The axis type corresponds to the BASIC command ATYPE 5 In the Device list select a drive to associate with the axis If there are no available drives or you do not want to associate the axis with a drive you can skip this step Refer to section 3 5 3 for more information on associating axes Note You cannot associate a virtual axis with a drive Thus if the Axis Type is Virtual the Device list is disabled For more information on associating a drive with an axis refer to section 3 5 3 6 Click OK 51 Axes Section 3 5 3 5 3 Associating an axis with a drive An axis in Trajexia Studio represents only the functional characteristics of a motion axis To make the axis in Trajexia Studio represent a complete motion axis It must be linked to a drive that is connected to a unit This is called associating Note If an axis in Trajexia Studio is not associated with a drive Trajexia Studio generates an error when the device or the solution is built This does not hold for a virtual axis because a virtual axis cannot be associated with a drive Associate axis 1 n the Solution Explorer right click the axis that you want to associate with a drive 2 Select Assign Physical Device 3 In the Axis Configuration window select a drive in the Device list to associate with the axis Note The list of drives in the Device list is limited to drives that can support the axis type selected i
18. OK For each selected CAM table one or more lines TABLE start address value 1 value n are added under Omron Auto Generated CAM TABLE in the Omron Auto Generated Symbols outline which is read only To make the TABLE statements not too long one TABLE statement is generated per 10 memory addresses An axis is a machine or a motor that controls the motion Trajexia Studio supports 3 types of axes e Flexible axis A flexible axis is an axis controlled by an FL unit e MECHATROLINK II axis A MECHATROLINK II axis is an axis controlled by a MECHATROLINK II Master Unit e Virtual axis A virtual axis is an axis that does not correspond to a MECHATROLINK II axis or a flexible axis Axis concepts Trajexia Studio makes a difference between the functional characteristics and the hardware characteristics of axes This makes the development of a solution very flexible because it is possible to write programs that use axes and at the same time postpone the decision on which specific axis hardware you use For example you can add a MECHATROLINK II servo axis to a motion device and write a BASIC program that uses this axis without knowing the hardware characteristics of this servo axis such as the model the address of the axis and the MECHATROLINK II unit that it is connected to Later you can choose the specific axis hardware and link it to the servo axis in Trajexia Studio To reflect the distinction between the functional charac
19. a drive Axis Configuration R D ZNO1H ML2 0x41 Configuration Monitoring Test Run Add Axis To Shell Add Drive Parameters To Shell Axis Configuration window Test Run tab A test run is a simple move at a given speed with a given acceleration and deceleration You can set the distance argument of the BASIC command MOVE and the SPEED ACCEL and DECEL parameters Also you can enable the SERVO AXIS ENABLE and WDOG parameters for the test run with the respective On or Enable buttons 55 Units Section 3 6 When these parameters are set you can click Run to execute the test run To stop the test run you can click the Abort button The Movement Axis Status AXISSTATUS and Status DRIVE STATUS groups on the Test Run tab give feedback about the movement of the axis the axis status and the drive status respectively when the test run is executed 3 5 5 Finding an axis 56 Find axis Units If the solution contains many axes it can be difficult to find a specific axis in the Solution Explorer Therefore Trajexia Studio has search functionality to find an axis by its name To find an axis in the solution perform the following steps 1 On the Edit menu select Find and Replace and then Find Axis 2 Inthe Find Axis window type the name or a part of the name of the axis you want to find in the Axis Name field Axis Name C Match whole word C Match case Find Axis window 3 If you want to
20. and data are stored in the RAM memory of a device If the device also has an EPROM memory Trajexia Studio can copy the programs but not the data from the RAM memory to the EPROM memory and vice versa This is useful because the device copies the programs in the EPROM memory to the RAM memory when it is switched on to make sure that the RAM memory has the correct programs 75 Other online actions Section 4 7 Note To copy the programs from the source memory of a device to the target memory select the corresponding online device in the Solution Explorer and select one of the following commands on the Online menu Command Source memory Target memory Recover From EPROM EPROM If you copy the programs Trajexia Studio performs the following actions e All programs in the source memory are copied to the target memory Existing programs in the target memory are overwritten e The device is restarted The connection between Trajexia Studio and the online device is broken e The copied programs with a startup priority are automatically started at power up or after a software reset of the device 4 7 5 Firmware update 76 A A A Note Update firmware Note Trajexia Studio can update the firmware version of a connected device This replaces the existing firmware of the device with new firmware Caution If you update the firmware version of a device the existing firmware is overwritten Caution Be
21. colours 16 mill colours 256 colours 16 mill colours Communication Ethernet for connection to TJ1 MC04 TJ1 MC16 or CJ1 or CJ2 ports PLC with CJ1W MCH72 RS232 for connection to CJ1 or CJ2 PLC with CJ1W MCH72 Other for connection to CJ1 or CJ2 PLC with CJ1W MCH72 refer to the CJ1 CJ2 hardware manual 1 3 2 Installing Trajexia Studio The Trajexia Studio installer is a standard InstallShield wizard To start the installer execute setup exe which is located in the Trajexia Studio installer folder The InstallShield wizard guides you through the installation process The following remarks are important when you install Trajexia Studio You must have administrator privileges on the computer where you want to install Trajexia Studio e Ifyou have a Trajexia Studio licence code you can enter it when you install Trajexia Studio If you do not have a licence code you can still install Trajexia Studio For more information on the registration of Trajexia Studio and licence codes refer to section 1 3 3 e You can select which applications you want to install in the Select Features window CX Drive CX Drive is a configuration tool for drives Trajexia Studio needs CX Drive to perform drive tuning see section 3 5 4 1 CX Server CX Server is middleware to communicate with other OMRON components Trajexia Studio needs CX Server to communicate with an online device see section 3 2 3 Trajexia Studio Document conventions Sect
22. connect lines of code with the same indentation 108 loop 109 110 IF alarm bit THEN 111 action 1 Alarm push RESET to restart 112 113 IF status word lt gt 2 THEN 114 PRINT Stop with Alarm 115 GOSUB stop all 116 status word 2 Programs stopped with error 117 ENDIF 118 119 IF res bit 1 THEN 120 action 2 Resetting 121 PRINT Resetting 122 GOSUB reset_all 123 status word 1 Programs stopped NO error 124 ENDIF 125 ELSE 126 action 3 OK 127 Indentation lines You can navigate directly to a specific line in the code editor To do this select Go To on the Edit menu enter the line number to navigate to in the Go To Line window and click OK Go To Line Line number 1 380 EE Go To Line window A bookmark is a marker that specifies a line in the code editor It is indicated with a bookmark icon lin the margin bar of the code editor Trajexia Studio supports navigation between bookmarked lines in the code editor 1 The current line is the line where the cursor is Code editor Section 2 2 The table below lists the actions that Trajexia Studio supports for bookmarks in the code editor The second column lists the corresponding commands on the Programs menu under Bookmarks Betton command Set a bookmark on the current line Toggle Bookmark Clear the bookmark from the current line Toggle Bookmark Clear all bookmarks Clear Bookmarks Navigate to the next bookmark Next Boo
23. docking window together with other docking windows perform the following steps 1 Drag the window to another docking window with which you want to group it The two arrow guide shows in the center of the docking window Between the 2 arrows is an area that represents the grouping option Two arrow guide with grouping option area between the 2 arrows 2 Drag the window to the grouping option area 3 Release the mouse button The window is added as a tab to the docking window If the auto hide feature is set you cannot group the window To detach a docking window from a group of docking windows perform the following steps 1 Drag the tab that represents the window away from the docking window 2 To dock or float the window perform the corresponding docking or floating procedure described above 2 4 2 All docking windows 2 4 2 1 22 Build window Trajexia Studio has 8 docking windows e Build e Error Log e Find Results Find and Replace e Output Solution Explorer e Properties e Watch This section describes the docking windows The Build window lists the errors and warnings that Trajexia Studio generates when you build a program a device or the solution The difference between an error and a warning is that an error is more severe You can synchronise a device with build warnings and build errors but is recommended not to synchronise a device with build errors For more information on synchronisation r
24. document windows Docking windows are described in section 2 4 Document windows and docking windows behave in a different way Therefore they cannot be grouped together in the IDE Some windows or user interface elements in Trajexia Studio have specific features These are Introduction Section 2 1 2 1 2 Layout e Code editor The code editor is a text editor with advanced features such as code completion and syntax colouring It is used to edit BASIC program code The code editor is described in section 2 2 e Tabular views A tabular view is a table of values in rows and columns with special sorting and filtering features Tabular views are described in section 2 3 The Trajexia Studio IDE supports 2 different layouts Multiple document view In the multiple document view the Trajexia Studio main window is the parent window and the document windows are child windows In this view the Trajexia Studio IDE has a Window menu that lists all open child windows The child windows can be tiled and cascaded You can use CTRL F6 to move the focus to the next document window ES Constants Device elx E FE VR Memory Device1 BEI E FA SHELL Device1 Ea lx o E A This SHELL program is an example 15 oa program should be modified for tl Reserved symbol area for SHELL pre a application programs VR 900 status word reports al 0 during initialization 1 application stopped with no 2 errors in the system 3
25. in which you can select a value to enter in the edit field Properties that show in gray are read only and cannot be edited A watch is a variable and its value You can define watches to view the values of the variables when a program is running The Watch window lists the defined watches Watch qx El add X Delete Name Value Type Device Group Watch window The Watch window has 2 buttons Add and Delete to add and delete watches from the window and it has a tabular view with the following columns Name The name of the watched variable The value of the watched variable o numeric format in which the value in the Value column shows The device where the watched variable is defined The program where the watched variable is defined and the process ID of the running program if applicable Docking windows Section 2 4 The cells in the Type column have a drop down list where you can select the numeric format of the value in the Value column Binary Type column in Watch window The table below lists the values in the Type column and their corresponding numeric formais Tepe vali Real Floating point 4 decimals Boolean 0 equals False all other values equal True Binary representation of 24 bit integer values 1 The Binary type does not show all 32 bits used in IEEE floating point values The list in the Watch window is a tabular view Refer to section 2 3 for more information on the
26. lO window has a tabular view of all inputs and outputs and their status You can only edit the values in the Description column Refer to section 2 3 1 for information on how to edit a value in the IO window The value in the Description column is not stored in the device It is only stored in the solution A CAM table is an area of the Table memory It is used to read or write a set of positions that define a movement profile CAM tables are used by the BASIC commands CAM and CAMBOX To add a CAM table to a device perform the following steps 1 Inthe Solution Explorer right click CAM Tables under Global Data 2 Select Add Cam Table 3 In the CAM Table Size window enter the memory size of the new CAM table Global data Section 3 3 CAM Table Size CAM Table Size 1000 l Cancel Edit CAM table Note 3 3 5 VR memory Edit VR memory CAM Table Size window 4 Click OK A new CAM Table has the default name CAMTablen where n is a sequence number You can view and edit a CAM table in the CAM table window To open the CAM table window perform the following steps 1 In the Solution Explorer right click the CAM table to edit under CAM Tables under Global Data 2 Select Open CAMTable1 Device1 v x Table Address 0 0000 1000 0 0000 1001 0 0000 1002 0 0000 1003 0 0000 1004 0 0000 1005 0 0000 1006 0 0000 1007 0 0000 1008 0 0000 1009 10 0 0000 1010 11 0 0000 1011 12 0 0000 1012 13 0 0000
27. of a variable Change variable value Note You can change the value of a variable in a running program This is useful for debugging a program because you do not have to change the program to have an influence on the program execution and results To change the value of a variable in a running program perform the following steps 1 Add a variable in the program to the Watch window refer to section 5 4 1 2 Execute the program 3 Change the value in the Value column of the Watch window Refer to section 2 3 1 for information on how to edit a value in a tabular view The value of the variable in the running program is changed The program execution continues with the new variable value It is also possible to change the value in the Name column of a watch in the Watch win dow However this does not change the name of the watched variable If you change the name of a watch in the Watch window and this name is not the name of a variable in the program the watch is invalid An invalid watch shows in red in the Watch window 5 4 4 Deleting a watch 9 0 82 To delete a watch select the corresponding row in the Watch window and click Delete Terminal window The Terminal window is used for direct communication with the online device In the Terminal window you can execute BASIC commands in the device This is useful for debugging because you can execute commands immediately and do not have to write and transfer a BASIC p
28. options To set the drive mappings manually clear the Enable Intelligent Assignment check box Intelligent assignment is automatically cleared if the axis is transferred to the online device and the val ues of the drive mappings are not possible according to the rules of the firmware of the online device Error Handling ERRORMASK 53 Axes Section 3 5 1 The values on this tab are not the current axis parameter values They are default values which can be added to the SHELL program with the Add Axis To Shell button to initialise the axis parameters The values on this tab can only be changed when the device is offline The Scaling Units wizard calculates the axis parameters UNITS REP_DIST and REP_OPTION and the gear ratio numerator and denominator of the drive To open the wizard click Wizard on the Scaling Units tab Scaling Units Wizard Numerator Encoder Counts Ratio R1 x Ss x Denominator Distance per Rev Ratio R2 Input Data Results Encoder bits Drive Ratio Numerator Drive Ratio Denominator Distance user units Calculated Ratio 0 1 lt Num Den lt 10 At 4 UNITS Repeat Distance Settings Repeat Results REP_DIST units REP_DIST O REP_DIST REP_DIST REP_OPTION O 0 REP_DIST Cancel Scaling Units Wizard window To calculate the axis parameters and the drive ratio select a value in the Encoder bits field type a value in the fields Distance user untis R1 R2
29. paste one or more table cells perform the following steps 1 Copy one or more cells to the clipboard 2 Select a cell in the tabular view where you want to paste the cell s on the clipboard 3 On the Edit menu select Paste The table below lists the columns in which the cells can be edited Tabular view Columns Constants Name Value 17 Tabular views Section 2 3 VR memory Global Name Usage Table memory All columns except Address 2 3 2 Sorting a column Some columns can be sorted If you click on the column header the column is sorted in ascending order A triangle shows at the right side of the column header that indicates the sort order Column header with ascending sort order triangle If you click on the header of a column that is sorted in ascending order the column is sorted in descending order Note Not all columns can be sorted If you click on the header of a column that cannot be sorted the column is selected The table below lists the columns that can be sorted Constants Name Value I O memory Address Type Description Device VR memory Address Global Name Usage Value Watch window 2 3 3 Filtering rows some columns can have a filter If you set this filter the table only shows the rows where the value of the cell in the filtered column is equal to the column filter If a column can have a filter a filter button shows when the mouse pointer is over the column header Device
30. search for an axis by its whole name select the Match whole word check box 4 If you want to make the search case sensitive select the Match case check box 5 Click Find Next If the axis is found it is selected in the Solution Explorer A device can have several connected units These units perform specific tasks they control axes or they control the communication with other networks These units can be stand alone units such as in the modular Trajexia system Or they can be embedded in the device for example in the MCH72 device which is a single unit with integrated MECHATROLINK II functionality and flexible axis functionality Units in Trajexia Studio are the representation of stand alone units or embedded units in a device Trajexia Studio supports the following units for the TJ1 MC04 and the TJ1 MC16 motion devices Description CORT TJ1 CORT CANopen Master Unit Interface with CANopen network TJ1 DRT DeviceNet Slave Unit Interface with DeviceNet network FL TJ1 FLO2 Flexible Axis Unit FLO2 Flexible Axis Unit Analogue controller for 2 axes controller for 2 axes a TJ1 MLO4 it Tl a be Il controller for 4 axes Master Unit ML16 TJ1 ML16 MECHATROLINK II MECHATROLINK II controller for Master Unit axes ee PROFIBUS DP Slave Interface with PROFIBUS network Unit Units Section 3 6 Trajexia Studio supporis the following embedded units for the MCH72 motion device Flexible axis functionality Controller for 1 flex
31. search works directly in the text editor You cannot do normal text editing in the code editor when you do an incremental search 10 Code editor Section 2 2 The table below lists the actions that Trajexia Studio supports for incremental search The second column lists the keys to perform these actions tion Revs Start an incremental search CTRL I Find a string Type the string Find the next occurrence of the find string CTRL I Find the previous occurrence of the find string CTRL SHIFT I Cancel the incremental search Note eh eh When you perform an incremental search the mouse pointer changes to gt or tt the arrow indicates the search direction 2 2 4 Inserting and editing code 2 2 4 1 Commenting code Comments are texts in the code editor that are not part of the program code They are ignored when the program is built Comments are useful when you want to add an explanation to your program code In BASIC a comment is indicated by a comment mark This is a single quotation mark All the text from the comment mark to the end of the line is comment You can add or remove comment marks to one or more lines with the Comment Selection and Uncomment Selection commands under Advanced on the Programs menu These commands apply to the selected lines in the code editor or to the current line if no text is selected Note The command Uncomment Selection only removes the comment marks that are at the start of the line
32. size e lf you change the memory size Trajexia Studio changes the end address Caution If the addresses of a memory area is changed the data is not automatically moved If you want to move the data you must do this manually Note If the values entered for the memory allocation are such that two memory areas over lap Trajexia Studio shows an error message when you click Apply An icon indi cates the memory area that is overlapped Memory Areas Start Address End Address Memory Size E A Table Memory 0 63999 64000 J Shell 0 299 300 F User Table Memory 300 1999 1700 1 CAM Tables 1000 10999 10000 O Oscilliscope 11000 12999 2000 The User Table Memory area overlaps the CAM Tables memory area 3 2 3 5 PLC Memory Mapping settings The PLC Memory Mapping settings determine how the MCH 72 device exchanges configurable data with its host device PLC For more information on cyclic data exchange refer to the CJ1W MCH72 Motion Control Unit Operation Manual I55E Configuration Device2 v x Configuration Status Communications General Date Time Memory Manager PLC Memory Mapping Output Input PLC Area PLC Address TJ Area TJ Address Total Items 8100 v 8101 v 8102 e103 J J 8104 v 8105 v 8106 v 8107 v Configuration window PLC Memory Mapping tab The PLC Memory Mapping tab has 2 tabs one for the 8 output areas 8100 8107 and one for the 8 input areas 100 10
33. specific features of tabular views For more information on watches refer to section 5 4 2 4 3 Resetting the layout The docking window layout can be restored to the default settings Reset layout To reset the window layout perform the following steps 1 On the Tools menu select Options 2 Select Reset Docking Window Layout 27 Docking windows 28 Section 2 4 Solution items Section 3 1 SECTION 3 Solutions 3 1 Solution items Note To manage the items in your motion application Trajexia Studio provides a container the solution The solution contains the devices in your motion application The Solution Explorer is the interface to view and manage the solution The Solution Explorer shows a tree view of the items in the solution Solution Explorer ax a a s s Devices i J Devicel TJ1 MC16 Global Data DB Axis Parameters J Constants IO 53 CAM Tables E VR Memory Table Memory 3 Programs SHELL APPLICATION A Axes GP FlexAx01 FL E MLAxO1 ML g Units I Data Trace Solution Explorer The items under a device in the solution can show in black red and green The mean ing of these colours is explained in section 4 5 2 3 1 1 Managing solutions New solution Open solution Save solution Trajexia Studio always contains one solution Trajexia Studio cannot contain more than one solution and it cannot contain zero solutions When you start Trajexia S
34. versions from online devices locally and keeps them for future use You can select a different firmware version for the device in the Firmware list Note The Firmware list is disabled when the device is online Servo period The servo period is the duration in us of one motion cycle in the device The number of connected axes determines the minimum servo period of the device You can change the servo period in the Current Servo Period text field Note The Current Servo Period text field is only enabled when the device is online 34 Devices Section 3 2 Note The Current Servo Period text field only shows the current servo period You can change the servo period in this text field but the change takes effect only after the device is reset Until the device is reset the value that shows in the Current Servo Period field is the current servo period and not the changed value Trajexia Studio can not show the new servo period value because the new servo period can only be written to a device and it cannot be read Configuration Device1 v x Configuration Status Communications General Date Time Firmware Update Memory Manager Firmware 1 6652 v Current Servo Period us Configuration window General tab 3 2 3 3 Date time settings When the device is not online the Date Time tab shows the current date and time of the computer When the device is online the Date Time tab shows the date and time of the online de
35. 0 0000 0 0000 380 0 0000 0 0000 0 0000 0 0000 0 0000 385 0 0000 0 0000 0 0000 0 0000 0 0000 390 0 0000 0 0000 0 0000 0 0000 0 0000 ES Table Memory window The Table Memory window has a tabular view that shows the values in the Table memory Refer to section 2 3 1 for information on how to edit a value in the Table Memory window You can change the display precision of the values in the tabular view with the Precision property in the Properties window If you change the display precision Trajexia Studio does not change the value but only the display format of the value Because the Table memory can be large the Table Memory window has some features to change the layout of the tabular view The table below lists the features The second column lists the properties in the Properties window that you must change to enable the features Change the number of columns in the tabular view Limit the values that show to a specific Table memory area Table Memory Area Shell User Table memory CAM tables or Oscilloscope Limit the number of values that show to a user defined area of Offset and Size the Table memory Programs are the essential elements of devices they drive the behaviour of the device and the connected axes The programs are written in the BASIC programming language 45 Programs Section 3 4 3 4 1 Program concepts A motion application can consist of several BASIC programs A program can have an influence on
36. 241 CANCEL 1 Cancel NTYPE 242 Wa 1 243 CANCEL 1 Cancel possible program buffer 2443 NEXT i 245 2463 RAPIDSTOP Cancel MTYPE 2473 RETURN 248 Green and yellow lines 2 2 5 3 Matching parentheses Note Trajexia Studio recognises pairs of parentheses that match This gives you feedback on misplaced or missing parentheses which cause syntax errors If 2 parentheses match Trajexia Studio highlights the 2 parentheses in the following cases e Ifthe cursor is left of the opening parenthesis e lf the cursor is right of the closing parenthesis RUN run ant run act run act READ BIT O signal state run bit run act AND NOT run ant Matching parentheses If the cursor is left of an opening parenthesis or right of a closing parenthesis you can press CTRL to navigate to the matching parenthesis 2 2 5 4 Read only sections Trajexia Studio can generate program code Some sections of generated code are read only and cannot be edited The read only sections of code have a gray background colour 13 Code editor Section 2 2 347 348 Omron Auto Generated Units 349 Varning Automated code section any manual code changes will be lost 350 351 Unit Variables reset 352 VR diag01 0 353 VR diag02 0 354 VR diag03 0 355 VR unit detection 0 356 357 Unit Detection 358 VR uit_detectionj 0 359 360 Detection O 361 IF VR diag01 0 AND VR diag02 0 AND VR diag03 0 THEN SET_B
37. 5 Generating SHELL code Trajexia Studio can add the code for the definitions of axis parameters drive parameters Table data VR variables and CAM table data to the SHELL program Note Drive parameters can only be added to the SHELL program from the Axis Configuration window or the Drive Configuration window Refer to section 3 6 6 5 Add axis parameters To add the axis parameters of one or more axes to the SHELL program perform the following steps 1 Inthe Solution Explorer select the SHELL program 2 Select Insert Axes under Modify SHELL on the Programs menu 3 Inthe Insert SHELL Axes window select the check boxes for the axes of which you want to add the axis parameters to the SHELL code Insert SHELL Axes O Flex4x01 O ML4x01 Insert SHELL Axes window 4 Click OK For each selected axis the code for the assignment of the axis parameters is added under Axis Parameters in the Start Standard Section outline of the SHELL program Note e Trajexia Studio does not check if the code that you want to generate is already in the SHELL program If you add code for the same axis parameters twice the same axis parameter assignments are in the SHELL code twice You can change the added code Add Table data To add Table data to the SHELL program perform the following steps 1 Inthe Solution Explorer select the SHELL program 2 Select Insert Table Data under Modify SHELL on the Programs menu 3 Inthe Insert SHELL Table
38. 7 The table below lists the edit fields on the 2 tabs the description and the possible values 1 The configurable data is all data that is exchanged except control and sta tus data 2 The words input and output indicate the direction starting from the MCH72 device Thus output means from MCH72 to PLC and input means from PLC to MCH72 37 Devices Note Section 3 2 Edit field Description Possible values The PLC memory areaj01 CIO memory used for data exchange 08 14 EM memory bank 0 hex C hex PLC Address The start address in the The validity of this value depends on the PLC memory value of PLC Area The MCH72 memory area VR 16bit Int VR memory used for data exchange 16 bit signed integer VR 32bit Float VR memory 32 bit floating point Digital IO IN or OP array depending on direction Analogue IO AIN or AOUT array depending on direction Axis Status array only valid if direction is MCH72 output TJ Address The start address in the The validity of this value depends on the MCH72 memory value of TJ Area Total Items The total number of items The validity of this value depends on the words and dwords to values of PLC Area and TJ Area exchange If the PLC type of the PLC host device is not set you cannot set the data exchange val ues of the MCH72 device 3 2 3 6 Status information 38 The Status tab in the Configuration window shows the status of the Trajexia Studio communication services that
39. Aa 9 x l l 0 50 100 150 200 Table Plot Item Start Position End Position Value Table Area 11000 12999 Data trace window with Table list To return to the standard view of a data trace graph click the E button on the toolbar The Table list is replaced by the parameter list 3 7 4 Saving the data trace values 3 0 66 A You can save the data trace values in a CSV file with the zi button on the data trace window toolbar Caution A data trace is part of the solution and thus it is saved when the solution is saved How ever the data trace values are not saved in the solution file You must save the values separately in a CSV file General operations in the Solution Explorer The Solution Explorer shows the items in the solution in a hierarchical way The root item is Devices Under Devices the devices in the solution are listed Some items in the Solution Explorer are fixed They cannot be added changed or deleted Some items are variable They can be added changed and deleted The table below lists the variable items in the Solution Explorer and the parent items under which they show Parent item Variable item CAM Tables CAM table COR CO General operations in the Solution Explorer Section 3 8 Change order Delete Rename Note Cut copy paste Trajexia Studio supports the following general operations on variable items in the Solution Explorer e Change order Delete e
40. Click Transfer From Device All From the drive to Trajexia Studio Click Transfer All From Device 1 The changed value is transferred to the drive real time 3 6 6 3 Monitoring the drive The Monitoring tab shows the real time monitoring information of the drive when the device Is online The Alarms tab shows the current alarm of the drive if it has one To clear the current alarm click Reset Previous alarms show in the lists in the History and Trace tabs To clear the previous alarms click Clear History Trace 60 Units Section 3 6 Gl Drive Configuration R7D ZNO1H ML2 0x41 Configuration Monitoring Drive Reset Alarms Servo Monitor Current Alarm History T race History Trace Description Add Axis To Shell Add Drive Parameters To Shell Drive Configuration window Alarms tab The Servo Monitor tab shows the drive status and the I O status When an axis status bit or I O bit is on the corresponding square is red When an axis status bit or I O bit is off the corresponding square is gray EE Drive Configuration R7D ZNO1H ML2 0x41 Configuration Monitoring Drive Reset Alarms Servo Monitor Status DRIVE STATUS Output Completed Q Tc HEE EEE a o Bit 13 Bit 14 Bit 15 able offline Not aval Add Asis To Shell Add Drive Parameters To Shell Drive Configuration window Servo Monitor ta
41. Column header with filter button Set filter To set a filter perform the following steps 1 Click the filter button on the column header 2 Select a value from the list of filter values some filters have special filter values that can be selected The table below lists these special filter values 18 Tabular views 2 3 4 Set custom filter Clear filter Section 2 3 Special filter Description value Custom A custom filter see the procedure Set custom filter below Blanks Blank characters spaces and tabs Non blanks Non blank characters all characters except blank characters AII All values used to clear a filter see the procedure Clear filter below If a column has a filter set the filter button on the column header shows permanently in purple Device Filter button in purple To set a custom filter perform the following steps 1 Click the filter button on the column header 2 Select the value Custom from the list of filter values Custom AutoFilter Show rows where Device equals Oan Oor Custom AutoFilter window 3 Inthe Custom AutoFilter window enter a relation and a value for the filter 4 Optionally enter another relation and value for the filter and a boolean relation AND or OR between the first relation and value and the second relation and value 5 Click OK To clear a filter perform the following steps 1 Click the filter button on the column header 2 Select A
42. IT 15 diag01 362 363 Omron Auto Generated Units End 364 Read only section Note You can copy text from a read only section 2 2 5 5 Syntax colouring The BASIC program code consists of syntactical elements The code editor recognises these syntactical elements when you enter the code You can change the colours and fonts of the syntactical elements in the BASIC Program Style window To open this window select BASIC Program Style under Options on the Tools menu BASIC Program Style Font bold type indicates fixed width fonts cee y o Display items Item foreground ET 0 0 0 y Collapsible Text Code Snippet Field Item background Code Snippet Dependent Field Command C Automatic Axis Parameter Modifier a Constant O Bold italic Underine Number Channel Operator String Delimiter String Default Comment Delimiter BASIC Program Style window Sample AaBhbCcXxYyZz In the BASIC Program Style window you can set the font the font size the foreground and background colours and the character style bold italic and underlined for each syntactical element which are called items in this window Note To restore the default colours and fonts of the syntactical elements click the Default button in the BASIC Program Style window 2 2 5 6 Command information Trajexia Studio can show the following information about a BASIC command and the arguments when you type the BASIC command in the
43. Rename e Cut copy paste Copy with drag and drop You can change the order of solution items as follows you can move a solution item in the Solution Explorer in front of another solution item To move solution item 1 in front of solution item 2 perform the following steps 1 Inthe Solution Explorer select solution item 1 2 Drag solution item 1 on solution item 2 in the Solution Explorer To move solution item to the back of the order perform the following steps 1 Inthe Solution Explorer select solution item 1 2 Drag solution item 1 on its parent item in the Solution Explorer The order of all solution items except units in the solution explorer does not matter You can change the order according to your preferences but it does not have an influence on the solution The order of units is determined by their unit numbers When you change the order of units their unit numbers are also changed The order of axes is synchronised with the order of the addresses of the associated drives and the unit number of the units to which the drives are connected If axes are associated with drives you cannot change their order And if you change the order of drives the association with the axes is lost For more information on associating an axis with a drive refer to section 3 5 3 To delete a solution item from the solution perform the following steps 1 Inthe Solution Explorer select the solution item 2 Onthe Edit menu select Delete
44. The program execution does not break at an inactive breakpoint However the breakpoint mark is still in the program code A disabled breakpoint is useful if you do not want the program execution to break but you want to keep the breakpoint mark in the program code to enable it later The table below lists the actions that Trajexia Studio supports for breakpoints in the code editor The second column lists the corresponding commands on the Programs menu under Breakpoints on nd Enable all breakpoints in the current program Enable All Breakpoints Disable all breakpoints in the current program Disable All Breakpoints Navigate to the next breakpoint in the current program Next Breakpoint Navigate to the previous breakpoint in the current program Previous Breakpoint 79 Execution control Section 5 3 9 3 5 3 1 Start restart execution Execution control The Trajexia Studio debugger supports the following functions to control the execution of a BASIC program e Start execution e Stop execution e Break execution Step through the program Starting execution To start the execution of a program or to restart the execution of a program in break mode perform the following steps 1 Inthe Solution Explorer select the program 2 Onthe Programs menu select Run The program runs until it reaches a breakpoint After this the program is in break mode To resume the execution from the break mode restart the exec
45. Trajexia Studio USER MANUAL Notice OMRON products are manufactured for use by a trained operator and only for the purposes described in this manual The following conventions are used to classify and explain the precautions in this manual Always heed the information provided with them WARNING A Indicates information that if not heeded could possibly result in serious injury or loss of life Caution Indicates information that if not heeded could possibly result in minor or relatively serious injury damage to the product or faulty operation Visual aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product li Trademarks and copyrights MECHATROLINK is a registered trademark of Yaskawa Corporation Trajexia is a registered trademark of OMRON All other product names company names logos or other designations mentioned herein are trademarks of their respective owners Copyright Copyright 2008 OMRON All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover
46. ackup log if it exists and the contents of ErrorLog log is cleared The table below lists the actions that the Error Log window supports The second column lists the steps that you must perform to do these actions Show or hide a column in the list Right click on the list select Show Columns and then the column you want to show or hide Copy the contents of the list to the clip Right click on the list and select Copy board Remove all errors from the list and clear Right click on the list and select Clear the contents of the file ErrorLog log When you close Trajexia Studio The contents of the Error Log window is cleared The contents of ErrorLog log is not cleared 2 4 2 3 Find Results window 24 The Find Results window lists the results of the last Find All or Mark All action in the Find and Replace window refer to section 2 2 3 1 Find Results ax Program SHELL Position 2 Line 9 Text YR 900 status word reports about the status of the system Program SHELL Position 2 Line 15 Text YR 901 YR status_bits reports next status Program SHELL Position 12 Line 15 Text YR 901 VR status_bits reports next status Program SHELL Position 2 Line 19 Text YR 902 action send messages to the upper controller a Program SHELL Position 2 Line 25 Text YR 903 YR diag01 gives feedback of the MECHATROLINK initialisation Program SHELL Position 12 Line 25 Text YR 903 YR di
47. ag01 gives feedback of the MECHATROLINK initialisation Program SHELL Position 2 Line 30 Text YR 904 YR diag02 gives Feedback of the MECHATROLINK Slaves Program SHELL Position 12 Line 30 Text YR 904 YR diag02 gives feedback of the MECHATROLINK Slaves Program SHELL Position 2 Line 33 Text YR 905 YR diagO3 gives Feedback forUnit detection Program SHELL Position 12 Line 33 Text YR 905 YR diagO03 gives feedback forUnit detection Program SHELL Position 2 Line 36 Text YR 906 VR unit_detection used in detecting units Program SHELL Position 12 Line 36 Text VR 906 YR unit_detection used in detecting units ES Find Results window The table below lists the actions that the Find Results window supports The second column lists the steps that you must perform to do these actions Navigate to the find result in the code edi Double click the line in the window tor window Copy the contents of the list to the clip Right click on the list and select Copy board Remove all find results from the list Right click on the list and select Clear Docking windows Section 2 4 2 4 2 4 Find and Replace window The Find and Replace window provides tools to search for text in the code editor windows and replace it Refer to section 2 2 3 1 for information on how to search and replace text 2 4 2 5 Output window The Output window shows the status information when Trajexia Studio perfo
48. am is running Trajexia Studio shows a message 4 5 3 Transferring a program to the device 4 6 Note Monitoring Trajexia Studio offers a quick way to transfer a program to the device when the device is online This is useful when you debug a program you can change some code in the program and then quickly transfer it to the device without doing a full synchronisation To transfer a program to the device select Transfer Program To Device on the Online menu The menu item Transfer Program To Device is disabled when the selected program is not changed Trajexia Studio supports the monitoring mode for online devices When the monitoring mode is on Trajexia Studio monitors the values of variables and memory areas in the online device When the monitoring mode is off Trajexia Studio shows only the values of variables and memory areas that are set in the solution They can be different from the values in the online device if the device is not synchronised On the other hand if a device is online and the monitoring mode is on Trajexia Studio does an automatic background synchronisation the following items are transferred from the online device to the device in the solution e Table memory e CAM tables e VR memory e Axis parameters An important limitation of the automatic background synchronisation is the following the items are only transferred from the online device to the device in the solution if they are visible in Traje
49. application running i 2 3 E 5 6 7 8 3 1 1 0 1 VR 901 VR status_bits reports q gt Multiple document view Tabbed view In the tabbed view all open document windows are grouped together in one single child window which has a tab for each document window In this view there is no Window menu You can use CTRL TAB to move the focus to the next document window Constants Devicel YR Memory Device1 SHELL Device1 v Address Global Name value Usage Description 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 Tabbed view To change the layout of the Trajexia Studio IDE select Multiple Document View on the View menu This toggles the layout between the multiple document view and the tabbed view The check mark on this menu item indicates that the current layout is the tabbed view This is the default layout of the Trajexia Studio IDE WB x Orin oa oO Eli wl rn Oo h TalT TetfeatT P T TaTe 1 S O OM amp 0 Mm a 0 Code editor Section 2 2 Note The layout of the Trajexia Studio IDE has no influence on the behaviour of the docking windows 2 2 Code editor The code editor is a text editor to write BASIC program code It consists of the following areas e Margin bar This is the gray vertical bar at the left of the code editor lt contains the icons that indicate a bookmark or a b
50. are running on the Service Status tab the status of the PLC host device on the PLC Status tab only for MCH72 devices and the status of the online device on the Device Status tab Global data Section 3 3 Configuration Device1 v x Configuration Status Device Status Service Status Type Simulator Status Disconnected Services Name l State A OK response Service Finished Blank response Service Finished Blank Service Finished OK Service Finished Halt Service Finished Rapid Stop Service Finished Float Service Finished Integer Service Finished Sequential Service Finished Finished __ jas Configuration window Service Status tab String Service 3 2 4 Building a device 3 3 Build device Note Global data When you build a device Trajexia Studio performs the following actions e Generate program code for the definitions of axis parameters drive parameters Table data VR variables and CAM table data and add it to the SHELL program see section 3 4 5 e Build all BASIC programs in the device see section 3 4 3 e Check that all axes are associated with a drive Check that all drives are associated with an axis To build a device perform the following steps 1 Inthe Solution Explorer select the device 2 Onthe Build menu select Build Device Trajexia Studio builds the device If the device has errors or warnings they show in the Build window Refer to s
51. at make writing and editing program code very easy These features are described in the following subsections 2 2 1 Editing text 2 2 1 1 Standard operations The code editor supports the standard text editor operations The table below lists the standard operations The second column lists the corresponding commands on the Edit menu Undo or redo the last operation Undo Redo Code editor Section 2 2 2 2 1 2 Indenting text Note Note 2 2 2 Navigating 2 2 2 1 Line number 2 2 2 2 Bookmarks Cut copy or paste the selected text Cut Copy Paste Delete the character right of the cursor or the selected text Select all text in the code editor Select All You can increase or decrease the indent of one or more lines of code with the Increase Line indent and Decrease Line Indent commands under Advanced on the Programs menu These commands apply to the selected lines in the code editor or to the current line if no text is selected If you increase a line indent Trajexia Studio inserts 4 space characters to the beginning of the line It does not insert a tab character You can also increase the indent with the TAB key and decrease the indent with the SHIFT TAB keys The TAB and SHIFT TAB keys only increase or decrease the indent of the current line if the cursor is before the first non space character on the line Trajexia Studio gives feedback about the indentation with gray vertical lines in the text area that
52. ation rate DECEL The deceleration rate RS LIMIT The absolute position of the reverse software limit in user u Parameter Selection window 6 Inthe Parameters list select an axis parameter or a digital input or output 7 Click OK 8 Repeat the 4 previous steps for the other parameters that you want to change 9 Inthe Properties window set the sample period of the data trace with the SamplePeriod property 63 Data traces Section 3 7 Properties ax 2 Z E Configuration Name Tracel Sample Period 10s Sample Rate 20ms Trigger Manual E Display x Axis Caption Time ms Name The name of the Data Set Data trace properties 10 Set the sample rate with the SampleRate property 3 7 2 Logging the data trace values Manual trigger The data trace starts logging the values when it is triggered to start There are 2 methods to trigger a data trace to start logging the values e Manual e Programmable A programmable trigger is equivalent to the BASIC command TRIGGER If you want to use a programmable trigger you must include the TRIGGER command in a program and set the Trigger property to Programmable To trigger the data trace to start logging values manually perform the following steps 1 Set the value of the Trigger property to Manual 2 Right click the data trace in the Solution Explorer 3 Select Start Logging The data trace stops logging the values when the sample period has elap
53. b Note If the axis that is associated with the drive has an error the Servo Monitor tab shows when the user opens the Drive Configuration window 3 6 6 4 Resetting the drive Trajexia Studio supports 2 drive resets which are listed in the table below The second column in the table lists the corresponding buttons on the Drive Reset tab Clear the alarm status of the drive 61 Data traces Section 3 7 IN Baton 3 6 6 5 Generating code for the drive parameters You can add code to the SHELL program to initialise the drive parameters that have a non default value that is drive parameters that are indicated with a red circle in the parameter list in the parameter editor To add code for these drive parameters click the Add Drive Parameters To Shell button in the Drive Configuration window The code for the initialisation of the drive parameter is added under Drive Parameters in the Start Standard Section outline of the SHELL program Note e Trajexia Studio does not check if the code that you want to generate is already in the SHELL program If you add code for the same drive parameters twice the same drive parameter initialisations are in the SHELL code twice You can change the added code You can only generate code for the drive parameters when the device is offline 3 7 Data traces A data trace is a set of real time values that are obtained by monitoring a parameter during a period of time and logging the parame
54. because OMRON is constantly striving to improve its high quality products the information contained in this manual is Subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication iii TABLE OF CONTENTS SECTION 1 IMtrodu cio PRE ES SE 1 1 1 2 1 3 1 4 1 5 Introducido l Tar A r E OE RR 1 JEDI ETE Oi sce cess di id E PE CE dere tp AE ENEE A A A AA E EA ode a oem E NE 2 Docume n convent OS naaa AE A a DR DR 3 Gentine Tel prado tears II A da Medi 3 SECTION 2 Integrated Development Environment ccscccccsssccccssscccsssccccssssccesess D 2 1 2 2 2 3 2 4 INFO stats sisal E E a Sp O OR SD ADD DAE RS a ee a ee un 5 OCS CCL OL PR RD RR SRD NE RR CR RR RR SR RR O E RR UERN RE RO RR 7 Tabula VE WS aaa ias 16 DOCKS windows aia id 20 SECTION 3 SOLUTIONS id 2 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 SOMO TANS id O 29 DCS umas renato anal ana da E a ats E E DOR E EA EE camer sene E oes 30 A se ees a scsi Re UA cme ea ones van OR E 39 PRO CRATING sait ela raia apta a tr Ga Ri talencivts ies diews 45 POX CS E Cid E RD E di EE E e eestor 50 PA A Ri E A ONNE IEO E E A E A 56 PAICE S enana a aa Ca a ia E A 62 General Operations in the solution Explorer aiii 66 SECTION 4 Work on N yes iii OD
55. chronisation You usually want to correct the build errors before you synchronise the device Trajexia Studio supports synchronisation in 2 directions e To device This synchronisation transfers the device in the solution to the online device e From device This synchronisation transfers the online device to the device in the solution Trajexia Studio supports 2 types of synchronisation simple and advanced Simple synchronisation The simple synchronisation transfers the following items e Programs e Axes e Units You can also synchronise the following items if you select the corresponding check boxes in the simple Synchronise with Device window e Axis parameters e Table memory e VR memory e Configuration of drive s Synchronisation Section 4 5 Note Synchronise with Device C Transfer Axes Parameters C Transfer Table Memory C Transfer VA Memory C Transfer Drive s Configuration Fast Program Transfer Mode Transfer To Device Transfer From Device Connect Only Cancel Simple Synchronise with Device window The simple synchronisation supporis the Fast Program Transfer mode In this mode all programs are deleted from the device in the solution or in the online device before all programs are transferred To synchronise programs in the Fast Program Transfer mode select the Fast Program Transfer Mode check box Click Transfer To Device to transfer from the device in the solution to the online dev
56. code editor The number of overloads of the command if the command has overloads The arguments The possible values of an argument e description of the command The information shows in a tooltip The command in the tooltip is a hyperlink If you click this hyperlink the associated help information for this BASIC command shows The next argument that you must insert shows in bold 14 Code editor Section 2 2 2 2 6 Viewing 2 2 6 1 Outlining Note ETHERNET a1of2 command ETHERNET function unit number parameter function 0 Read 1 Write Reads and sets various parameters of Motion Controller Unit Ethernet port Command information The table below lists the actions that Trajexia Studio supports for argument information The second column lists the steps that you must perform to do these actions parenthesis or Put the cursor between the argument parentheses and press CTRL SHIFT SPACE View the argument information for another Press the ARROW UP or ARROW DOWN overload of the command key to scroll through the list of overloads Show information about the next argument Type a value for the current argument and in the argument list type a comma Close the argument information tooltip Press ESC or complete the command with all arguments and type the closing parenthesis Trajexia Studio supports outlining of the text in the code editor An outline is a section of the text t
57. complete solutions for motion control devices or devices for short Trajexia Studio provides tools to develop motion applications configure devices communicate with devices and monitor and debug motion programs that are running on devices 1 1 1 Highlights e Microsoft Visual Studio style IDE Trajexia Studio has one single user interface where the user can perform all actions to develop motion applications execute them on a device and adjust and optimise them This user interface is an IDE integrated development environment that has the look and feel of the Microsoft Visual Studio style IDE Users that know the Microsoft Visual Studio IDE can work with the Trajexia Studio IDE without problems e Solutions for multiple devices Trajexia Studio supports the development for several devices at the same time integrated in one single solution Flexible development Trajexia Studio offers flexible options for the development of motion applications The hardware and software characteristics of motion axes are separate which means that your motion application can be developed hardware independent Support for existing motion applications Trajexia Studio can import Motion Perfect 2 projects Therefore you can use your existing motion applications in Trajexia Studio e Communicate with online devices Trajexia Studio can communicate with online devices which are devices connected to the computer on which Trajexia Studio runs 1 1 2 Intended a
58. d SHELL Program menu item is disabled if the motion device already contains the SHELL program A device can execute a program at startup when the device is switched on it executes the program You can set the startup priority for a program in Trajexia Studio with the Priority property in the Properties window If you click the ellipsis button in the edit field of this property the StartUp Priority window shows StartUp Priority StartUp Priority window To set the program to run at power up select the Run at Power Up check box and select a priority in the list Possible priority values are Default or 1 lowest priority to 14 highest priority To set the program not to run at startup clear the Run at Power Up check box The SHELL program by default runs at startup at priority 1 3 4 3 Building programs Build program To build a BASIC program perform the following steps 1 Go to the code editor that contains the program code to build 2 Onthe Build menu select Build Program 47 Programs Section 3 4 Trajexia Studio compiles and builds the program If the program has errors or warnings they show in the Build window Refer to section 2 4 2 1 for more information on the Build window build errors and build warnings 3 4 4 Printing a program Print program To print a BASIC program perform the following steps 1 Inthe Solution Explorer right click the program that you want to print 2 Select Print Program 3 4
59. e Move the cursor to the first character in the code editor Move the cursor to the last character in the code editor Move the cursor to the previous token 1 Atoken is a constructing element of the BASIC programming language such as a command an opera tor a variable name or an expression A 2 Selecting text To select text in the code editor you can press SHIFT plus a navigation key see section A 1 This operation selects the text from the current cursor position to the new cursor position The table below lists the other text selection operations A 3 Finding text Find and replace text CTRL F Start an incremental search CTRL I Do an incremental search backwards A 4 Changing text Increase the line indent of the current line or the selected text TAB Decrease the line indent of the current line or the selected text SHIFT TAB 85 Operation Keys Change the character right of the cursor or the selected text to uppercase CTRL SHIFT U Change the character right of the cursor or the selected text to lowercase CTRL U Toggle between inserting text or overwriting text INSERT Swap the characters left and right of the cursor CTRL T Swap the token at the cursor position with the next token CTRL SHIFT T Swap the current line and the next line CTRL SHIFT ALT T A 5 Deleting text Delete the current line CTRL SHIFT L Delete the text from the cursor to the next token CTRL DEL Delete the text from the previous tok
60. e You must send it to the distrib utor or the manufacturer to remove the lock When you lock the device it goes offline If you want to go online to a locked device you must unlock it Enter the lock code in the Controller Unlock Code window and click OK Controller Unlock Code The device is currently locked Please enter the unlock code Controller Unlock Code window 4 7 3 Channels A device has a number of communication channels A communication channel is a direct communication connection to the device Channel 0 is reserved for the Terminal window see section 5 5 Channels 5 6 and 7 are user communication channels You can use these channels to communicate with programs that are running in the device Trajexia Studio can show the communication on these channels in a channel window To open a channel window select the online device in the Solution Explorer and select Channel n under Channels on the View menu Channel 5 Device1 v x Channel 5 window The channel window is a simple text output window that shows the communication You can right click on the channel window to copy the text to the clipboard or clear the contents of the window Note Trajexia Studio can only show the communication on the user channels 5 6 and 7 It cannot send commands via these channels To send commands via the user channels you need an input device connected to the device such as a keypad 4 7 4 Memory back up Programs
61. ection 2 4 2 1 for more information on the Build window build errors and build warnings To build all devices in the solution select Build Solution on the Build menu Global data is data that is accessible to all programs of a motion device This means that all BASIC programs of that motion device can access that data Trajexia Studio devices have 6 types of global data e Axis parameters e Constants e 1 0 memory e CAM tables e VR memory Table memory sh Devices H Devicel TJ1 MC16 Global Data E Axis Parameters E Constants g 10 53 CAM Tables Es YR Memory E Table Memory Motion device with global data 39 Global data Section 3 3 3 3 1 40 Axis parameters Edit axis parameters The axis parameters are the motion parameters for the axes connected to the device They set and monitor the behaviour of the axes The axis parameters are unique to each axis thus all axes can work independently To view and edit the axis parameters of all axes connected to a device perform the following steps You can view and edit the axis parameters in the Axis Parameters window To open the Axis Parameters window perform the following steps 1 Inthe Solution Explorer right click Axis Parameters under Global Data 2 Select Open Axis Parameters Device1 v x ATYPE Flexible Encoder Out Mechatro Position NAME FlexAx01 MLAxO1 NUMBER 1 2 ACCEL 10000 10000 CREEP 100 100 DECEL 10000 10000 FHSPEED
62. ed For example if the clipboard contains a device and the selected solution item in the Solution Explorer is CAM Tables the Paste menu item is disabled because a device cannot be added under CAM Tables When you copy and paste a MECHATROLINK II slave Trajexia Studio shows the Drive Selection window for drives or the Mechatrolink I O Device Selection window for Os where you must select a new address for the copied slave If you do not select a new address Trajexia Studio cannot paste the slave because all slaves must have a different address When you copy and paste an axis that is associated to a drive the copied axis does not have a drive association because 2 axes cannot be associated with the same drive With a drag and drop operation you can copy a solution item in the Solution Explorer without using the clipboard To copy a solution item perform the following steps 1 Select the solution item in the Solution Explorer that you want to copy 2 Press and hold down the CTRL key 3 Drag the solution item to a solution item under which you want to insert the copy Introduction Section 4 1 SECTION 4 Work online 4 1 Introduction In Trajexia Studio you can design and develop motion applications for one or more devices If these devices are connected to the computer Trajexia Studio can communicate real time with them It can transfer programs and data from and to the device and it can execute programs in the d
63. eep a list of passwords and their corresponding solution names in a safe place Remember that passwords are case sensitive Password window 3 Type the password again in the Reenter Password text field to confirm the password 4 Click OK Caution If you forget the password you cannot open the solution Passwords are case sensitive To clear the password of a protected solution set the password to the empty string in the Password window A solution contains devices A device can contain data BASIC programs units and axes Trajexia Studio supports 2 kinds of devices e Motion devices Host devices which contain motion devices Trajexia Studio supporis the following devices Trajexia Studio Motion device host device name TJ1 MC04 Trajexia device with 4 axes TJ1 MC16 Trajexia device with 16 axes PLC PLC CJ1 series CJ2 series Host device for the MCH72 or CP1H series MCH72 CJ1W MCH72 device Motion device Devices Section 3 2 a a s s Devices i J Devicel TJ1 MC04 an dy Device2 TJ1 MC16 fy Device3 PLC Devices MCH72 Motion devices MCH72 TJ1 MC04 and TJ1 MC16 and host devices PLC A device can be renamed refer to section 3 8 The name of a device corresponds to the property Name and not to the property DeviceName The property DeviceName contains the identifier of the device such as PLC and TJ1 MC16 DeviceName is read only Properties Rx Em E Descri
64. efer to section 4 5 Build ax AN 1 Warnings Description Device Program Line Source Code 0 Axis FlexAx01 has not been assigned to a unit slave device Devicel TJ1 MC16 O i Axis MLAx01 has not been assigned to a unit slave device Devicel TJ1 MC16 A 2 Missing variable counter declaration Devicel APPLICATION 6 counter O Build window The Build window has a list that shows the following columns Docking windows Section 2 4 Column Description First column unlabelled An icon that indicates an error a or a warning Ms Second column The order in which the errors and warnings are generated unlabelled An explanation of the error or warning The device where the error or warning occurred Program The program where the error or warning occurred only applicable to syntax errors and warnings in program code Line The line number in the program where the error or warning occurred only applicable to syntax errors and warnings in pro gram code Source Code The code at the line number in the program where the error or warning occurred only applicable to syntax errors and warnings in program code The table below lists the actions that the Build window supports The second column lists the steps that you must perform to do these actions Navigate to the syntax error or warning in Double click the row in the list the code editor Navigate to the previous or next syntax Right click the row in the
65. en to the cursor CTRL BACKSPACE A 6 Inserting a new line Insert a new line above the current line CTRL ENTER Insert a new line below the current line CTRL SHIFT ENTER A 7 BASIC commands and arguments Insert a BASIC command CTRL SPACE Show the argument information of a command CTRL SHIFT SPACE A 8 Clipboard and undo redo operations A 9 Scrolling Operation Keys Scroll the contents of the code editor one line up CTRL ARROW UP Scroll the contents of the code editor one line down CTRL ARROW DOWN 86 Revision history Revision history A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No 156E EN 01 Revision code The following table lists the changes made to the manual during each revision The page numbers of a revision refer to the previous version 88 OMRON Authorized Distributor Cat No I56E EN 01 Note Specifications subject to change without notice Printed in Europe
66. evice 4 2 Hardware connection A device can support several connection methods such as Ethernet serial or USB Trajexia Studio supports all these connection methods for the supported devices Refer to the manual of the connected device for more information on the following topics The supported connection methods The network seitings of your computer if you use an Ethernet connection 4 3 Online concepts When Trajexia Studio communicates real time with a connected device the device is called online The device in the solution in Trajexia Studio is the interface via which Trajexia Studio communicates with the online device A device that is not online is called offline When a device is online Trajexia Studio can make the contents of the device in the solution match with the contents of the online device This is called synchronisation Synchronisation is discussed in section 4 5 When a device is online you can transfer the motion application you developed to the device and you can view and edit the values of variables and memory areas in the device refer to section 4 6 Also you can execute and debug the programs in the device For information on how to debug a program refer to section 5 Trajexia Studio can also perform the following actions on an online device e Perform a motion stop on all motion axes Lock the device View the communication channels Make a back up of the memory in the device e Update the f
67. eware for PLCs and online devices MCH72 devices communicate via CX Server To configure this communication you must configure the communication settings of the PLC device and then configure the communication settings of the MCH72 device To configure the CX Server settings click the Configure button For more information on CX Server refer to the CX Server documentation Simulation You can set up a virtual device and simulate the communication with this device To use simulation select the Simulate Device option button Configuration Device1 v x Configuration Status Communications General Date Time Memory Manager Configuration Ethernet Configuration FINS Configuration Modbus TCP Device Simulation Use Device Simulate Device Response Request Max Attempts 3 Timeout 2000 ms Device Communications IP Address 0 0 0 0 Configuration window Configuration tab Not all devices support all communication settings e The TJ1 MC04 and TJ1 MC16 devices only support direct communication and sim ulation The MCH72 device only supports communication via CX Server and simulation In the Max Attempts and Timeout text fields you can enter the number of connection attempts and the timeout period in milliseconds that Trajexia Studio uses to establish the communication to the online device If Trajexia Studio cannot establish the communication after the entered number of attempts or does not receive a res
68. fore you update the firmware version of a device make sure that you do the follow Ing e Stop the axes connected to the device When the firmware update is in progress control of the axes and l Os is not possi ble e Save the programs in the device The firmware update deletes all programs in the RAM and EPROM of the device Caution Do not close Trajexia Studio when the firmware update is in progress This can lead to unexpected results To update the firmware fo the connected device this device must be offline The device goes online automatically during the firmware update To update the firmware of a device perform the following steps 1 Select the device in the Solution Explorer 2 On the Online menu select Download Firmware 3 Inthe Load New Firmware dialog box click Yes 4 In the Select New Firmware File dialog box select a firmware file and click OK Firmware files for TJ1 MC04 and TJ1 MC16 devices have the file extension out Firmware files for MCH72 devices have the file extension bin Other online actions Section 4 7 Note The device goes online and the firmware version of the device is updated with the firmware version from the selected firmware file The firmware update can take several minutes 4 7 6 Comparing programs Compare programs Note Note Trajexia Studio has a viewer that shows the differences between a program in the device in the solution and the corresponding program on the onl
69. hat can be visible or hidden in the code editor e A visible outline is indicated with a minus sign in a small square to the right of the left margin indicator and a vertical line from the small square up to the last line of the outline 83 mron Autc 84 run ant 0 85 run act 0 86 stop_ant 0 87 stop_act 0 ss res ant 0 89 res act 0 90 alarm bit 0 91 res bit 0 92 run bit 0 93 stop bit 0 94 i 0 Servo Parameters 95 res 0 Servo Parameters 96 mran Aut enerated 97 Visible outline A hidden outline is indicated with a plus sign in a small square to the right of the left margin indicator Instead of the outlined text an outline placeholder shows It consists of the first line of the outlined text followed by an ellipsis 97 Hidden outline Outlined text is not deleted when you hide it it is only invisible in the code editor 15 Tabular views Section 2 3 Note If you hover the mouse pointer over a hidden outline a tooltip with the hidden text shows If the hidden text is very large only the first part of the hidden text shows in the tooltip All outlines are automatically defined by Trajexia Studio You cannot define your own outlines or clear existing outlines The table below lists the actions that Trajexia Studio supports to show or hide outlines The second column lists the corresponding commands on the Programs menu under Outlining E Show a hidden outline Toggle Outlini
70. ible axis MECHATROLINK II functionality MECHATROLINK II controller for 31 axes 3 6 1 Adding a unit Add unit To add a unit to a motion device perform the following steps 1 Inthe Solution Explorer right click Units under the motion device 2 Select Add unit to add Note You can only add units to the Trajexia devices that is the TJ1 MC04 and the TJ1 MC16 The MCH72 only has embedded units and you cannot add units to it The Trajexia devices have restrictions on the number and type of units that can be added to it These restrictions are that the system can have e 4 ML04 or ML16 units e 3 FL units for a TJ1 MCO4 7 FL units for a TJ1 MC16 e 1 PRT unit or 1 DRT unit but not both e 1 CORT unit If you cannot add a unit to a motion device because of these restrictions the corresponding menu item is disabled Note A Trajexia device must always have a TJ1 TER Terminator Unit as the last unit This unit terminates the internal bus Because the terminator unit does not control axes or communicate with other networks it has no representation in Trajexia Studio 3 6 2 DRT unit and PRT unit The DRT unit and the PRT unit are slave units that exchange data between the device and other networks the DeviceNet and the PROFIBUS networks respectively To enable this data exchange the device has two reserved areas of VR memory one for data input from the slave unit and one for data output to the slave unit These VR memory areas mu
71. ice Properties window The Properties window has a list with 2 columns the property name and the value of the property The window supports 2 views 25 Docking windows Section 2 4 2 4 2 8 Watch window 26 e Categorised view This view lists the properties and their values grouped together by category Categories can be collapsed and expanded to reduce or increase the number of visible properties To collapse or expand a category click the minus or plus sign left of the category description The categories are listed alphabetically The properties in a category are also listed alphabetically E To show the properties in categorised view click the button e Alphabetical view This view lists all properties in alphabetical order A To show the properties in alphabetical view click the button The Properties window has different types of edit fields depending on the value type and the list of possible values of the property The table below lists the types of edit fields and the ways to enter a value in these edit fields Editfield How to enter a value in the edit field Standard edit field Type the value in the edit field Drop down combo Type the value in the edit field Open the drop down list and select a value Double click in the edit field to select the next value from the list of values Edit field with ellip Type the value in the edit field sis button Click the ellipsis button to open a dialog box
72. ice Click Transfer From Device to transfer from the online device to the device in the solution Click Connect Only to keep the device online without synchronising items If you transfer the axes from an online device to the device in the solution all axes are transferred even the axes that are not used Axes that are not used are virtual axes and Trajexia Studio cannot distinguish between unused virtual axes and used virtual axes Therefore also unused virtual axes are transferred to the device in the solution You can remove unused axes in the device in the solution when the device is offline 4 5 2 Advanced synchronisation The advanced synchronisation offers more flexibility and features than the simple synchronisation e The advanced synchronisation gives detailed feedback on the matches and differences between the device in the solution and the online device You can specify which items to synchronise on a detailed level The advanced synchronisation is done from the advanced Synchronise with Device window To show this window click Advanced gt gt in the simple Synchronise with Device window Synchronise with Device Y Devicel TJ1 MC16 OA Programs w C Global Data at Axes Parameters a A Units Key Synchronised Differences In Project On Device C Delete all programs on target before transfer Transfer To Device Transfer From Device Connect Only Advanced Synchronise with Device
73. ign between 2 keys indicates a combina tion of keys that are pressed at the same time 1 5 Getting help To view this documentation in Trajexia Studio you can press F1 or select Help on the Help menu The BASIC code editor offers context sensitive helo on BASIC keywords To open the context sensitive help on a BASIC keyword place the cursor on a BASIC keyword in the code editor and press F1 Getting help Section 1 5 Introduction Section 2 1 2 1 Introduction SECTION 2 Integrated Development Environment The Trajexia Studio IDE provides the tools you need to develop a motion application such as a code editor data entry windows a compiler and a debugger ass Motion Studio File Edit Insert View Build Online Tools Help H a 8 Solution Explorer x Properties A 2 Find and Replace F Properties Build Q0 Errors 13 0 Warnings Description Device Program Line Source Code Fr Build 3 Error Log EN Find Results S Output El Watch Ready Trajexia Studio IDE The behaviour and appearance of the Trajexia Studio IDE can be customised to your personal preferences Window types The Trajexia Studio IDE contains 2 types of windows Document windows Document windows are dynamically created when you edit a solution item in Trajexia Studio e Docking windows The docking windows are predefined and statically created They contain tools and feedback on the solution items and on the
74. in the Global Name column in the row where the Address column has value n the line GLOBAL var n is added to the read only section of the SHELL program For more information on generating SHELL code refer to section 3 4 5 A VR variable can have an alias This alias is a reference to the index of the variable in the VR array Programs Section 3 4 3 3 6 Table memory 3 4 Edit Table memory Note Programs The Table memory contains the Table variables of the device It is used for large amounts of global data such as CAM tables and data traces You can view and edit the Table memory in the Table Memory window To open the Table Memory window perform the following steps 1 Inthe Solution Explorer right click Table Memory under Global Data 2 Select Open Table Memory Device1 v x Address 0 1 2 3 4 A 300 0 0000 0 0000 0 0000 0 0000 0 0000 305 0 0000 0 0000 0 0000 0 0000 0 0000 310 0 0000 0 0000 0 0000 0 0000 0 0000 A 315 0 0000 0 0000 0 0000 0 0000 0 0000 320 0 0000 0 0000 0 0000 0 0000 0 0000 325 0 0000 0 0000 0 0000 0 0000 0 0000 330 0 0000 0 0000 0 0000 0 0000 0 0000 335 0 0000 0 0000 0 0000 0 0000 0 0000 340 0 0000 0 0000 0 0000 0 0000 0 0000 345 0 0000 0 0000 0 0000 0 0000 0 0000 350 0 0000 0 0000 0 0000 0 0000 0 0000 355 0 0000 0 0000 0 0000 0 0000 0 0000 360 0 0000 0 0000 0 0000 0 0000 0 0000 365 0 0000 0 0000 0 0000 0 0000 0 0000 370 0 0000 0 0000 0 0000 0 0000 0 0000 375 0 0000 0 0000 0 0000
75. ine device the Program Compare window To open the Program Compare window perform the following steps 1 Select the program in the Solution Explorer 2 Onthe Online menu select Program Compare Progam Compare e RR Project Program SHELL 67 CONSTANT servo status 910 68 CONSTANT servo alarm 911 Device Program SHELL 67 CONSTANT servo status 910 68 CONSTANT servo alarm 911 69 69 703 ETHERNET Settings 70 ETHERNET 1 1 12 9600 71 ETHERNET 1 1 12 9600 FINS port number 72 J ETHERNET 2 1 7 0 Modbus TCP Mode 3 ETHERNET 2 1 9 0 Modbus TCP Data Config AM TABLE t7jrun ant 0 78 run_act 0 94 stop_ant 0 50jstop_act 0 Sijres ant 0 52 res_act 0 53 alarm bit 0 84jres bit 0 3553run _bit 0 Stistop bit 0 80 alarm bit 0 81 i 0 Servo Parameters 87 i 0 Servo Parameters 82 res 0 Servo Parameters 53jres act 0 S4lres ant 0 88 res 0 Servo Parameters Program Compare window The menu item Program Compare is disabled if the program in the device in the solu tion and the program on the online device are not different If the programs are not dif ferent they do not show in red The menu item Program Compare is also available in the shortcut menu of a program in the Solution Explorer and in the shortcut menu of a program in the tree in the Advanced Synchronise with Device window Again if the programs are not different they do not show in red and the Program Compare menu ite
76. ion 1 4 Trajexia Studio is the main application e If CX Server is installed it can be required to restart your computer after the installation This depends on several factors such as the operating system If a restart is required the Trajexia Studio installer indicates that 1 3 3 Registering Trajexia Studio The Trajexia Studio software can run in 2 modes Trial mode In trial mode Trajexia Studio runs 30 days after the installation After 30 days it stops working e Full mode In full mode Trajexia Studio has no duration limitation You can register Trajexia Studio with a licence code The licence code consists of 4 groups of 4 digits The following registrations are available Trial licence Trial mode Full licence Full mode You can register Trajexia Studio during the installation or in Trajexia Studio select About on the Help menu and click Upgrade Licence 1 4 Document conventions This documentation uses the following typographical conventions si FOR i 0 to 10 This font is used for BASIC program code SPEED i NEXT i GLOBAL ratio 23 Bold words in syntax descriptions are words that must be typed literally Solution Explorer Bold words in other text are used to indicate the names of user interface elements solution item 1 ltalic words in syntax descriptions or names of user interface elements are placeholders for other text CTRL Capital letters are used for the names of keys CTRL TAB A plus s
77. ion 3 3 3 3 3 3 3 4 42 Add constant Delete constant I O memory Edit VO memory Note CAM tables Add new CAM table To add a constant perform the following steps 1 In the last row in the Constants window which is empty type a constant name in the Name column 2 Type a value in the Value column in the same row To delete a constant perform the following steps 1 Inthe Constants window select the constant to delete 2 Select Delete on the Edit menu The I O memory holds the status of the inputs and outputs of the device The inputs and outputs can have the status ON or OFF You can view and edit the I O memory in the IO window To open the IO window perform the following steps 1 Inthe Solution Explorer right click IO under Global Data 2 Select Open IO Device1 v x Address Value 0 on j CM Off Off Off Off Off Off Off Off Off Off Off Off Off Off Off Off Off Off Device TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 TJ1 MC16 Type Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Output Digital Output IO window Description A The
78. irmware of the device e Compare programs on the online device and in the solution Reset the device Debug a program Send commands with the Terminal window Monitor the communication channels These actions are described in sections 4 7 and 5 4 4 Going online Go online Togo online to a device perform the following steps 1 Make sure that the device is connected to the computer on which Trajexia Studio runs 69 Synchronisation Section 4 5 4 5 4 5 1 70 2 Set the communication settings for the device see section 3 2 3 3 Select the device in the Solution Explorer 4 On the Online menu select Work Online Offline Trajexia Studio builds the device and synchronises it with the connected device see section 4 5 When the build and the synchronisation are successful the device is online When a device is online an online icon 4 shows on the device in the Solution Explorer Also the status bar indicates that the selected device is online To go offline select the online device in the Solution Explorer and select Work Online Offline on the Online menu Synchronisation Before Trajexia Studio synchronises a device it builds the device If there are build errors Trajexia Studio asks for your confirmation before it continues because build errors can lead to unexpected behaviour of the device Motion Studio X Build errors found in Solution Do you wish to continue Confirm build errors before syn
79. kmark Navigate to the previous bookmark Previous Bookmark 2 2 2 3 Breakpoints Breakpoints are used to debug program code For information about navigation between breakpoints in the program code and breakpoints in general refer to section 5 2 2 2 3 Searching text 2 2 3 1 Search and replace Trajexia Studio supports search and replace operations for text in programs in code editor windows The incremental search operation works directly in the code editor It is described in the next section 2 2 3 2 The standard search and replace operations are accessible from the Find and Replace window Find and Replace ax Find what WR v Replace with v Look in Current Program v Find options C Match case Include hidden text C match whole word C Search in selection C Search up C Mark with bookmarks Cluse Find Next Find All Replace Al Mark All Find and Replace window To show the Find and Replace window select Find and Replace on the Edit menu and then Find and Replace The Find and Replace window is a docking window For more information on docking windows refer to section 2 4 The 3 basic elements of a search and replace operation are the find string the replace string and the search scope e The find string is entered in the Find what field This field has a drop down list with the recent find strings e The replace string is entered in the Replace with field This field has a drop down list with the
80. les to a collapsible code section in the code editor BASIC does not have variable types Thus to declare a variable in a BASIC program you only have to initialise it that is assign it a value This must be a numeric value because all BASIC variables are numeric To declare the variable var Trajexia Studio adds the line var 0 to the program 2 2 4 5 Generating SHELL code 12 Trajexia Studio can generate program code for the assignment of axis parameters drive parameters Table data VR variables and CAM table data in the SHELL program For more information refer to section 3 4 5 Code editor Section 2 2 2 2 5 Visual feedback 2 2 5 1 Right margin The right margin indicator indicates the right margin of the text area The text area has a width of 80 characters You can enter lines in the text area that are longer than 80 characters However this generates an error when you build this program because BASIC code lines cannot be longer than 80 characters 2 2 5 2 Built code and changed code Trajexia Studio gives feedback in the code editor about which code is built and which code is changed after the last build Code that is built is indicated with a green vertical line Code that is changed after the last build is indicated with a yellow vertical line 232 2333 STOP APPLICATION 2343 WDOG 0 2355 236 FOR i 1 TO max_axis 237 BASE i 1 238 IF MARK O THEN REGIST 1 239 AXIS ENABLE O 240 SERVO 0
81. list and select error or warning in the code editor Previous Error or Next Error Show or hide a column in the list Right click on the list select Show Columns and then the column you want to show or hide Copy the contents of the list to the clip Right click on the list and select Copy Filter the list to show or hide errors or Click the Errors or Warnings toggle button warnings to set or clear the filter 2 4 2 2 Error Log window Note The Error Log window lists all errors that occur in the online device These errors are communication errors synchronisation errors or other errors from the device When an error occurs an indicator flashes on the status bar If you double click this indicator the Error Log window shows Error Log ax Type Date Time Source Event A error 06 05 2008 13 51 56 Drive Configuration Failure DBLLibrary DBLExcpetion Cannot switch to online mode maybe the configuration string is wrong gt System O Error 06 05 2008 13 52 14 Drive Configuration Failure DBLLibrary DBLExcpetion Could not setup the communication due to a DBL exception gt System Runtime In O Error 06 05 2008 13 52 18 Drive Configuration Failure DBLLibrary DBLExcpetion Could not setup the communication due to a DBL exception gt System Runtime In O Error 06 05 2008 13 52 35 Drive Configuration Failure DBLLibrary DBLExcpetion Could not setup the communication due to a DBL exception gt System Runti
82. ll from the list of filter values The table below lists the columns that can have a filter Device yameney e Watch window Importing and exporting data The data in some tables can be imported from a file and exported to a file To do this right click in the tabular view and select Import data or select Export data 19 Docking windows Section 2 4 2 4 2 4 1 2 4 1 1 20 The file to import from or export to is in CSV format If the size and values of the data in the CSV file do not match the size and value formats of the data in the tabular view Trajexia Studio shows an error message The table below lists the tabular views of which the data can be imported and exported Tabular view Constants CAM table VR memory Table memory Docking windows The docking windows are windows that show information about the solution the solution items and the contents of the document windows and they provide tools and options to support working with Trajexia Studio Docking windows do not behave like document windows but they have different display characteristics These are described in the next section Arranging docking windows The docking windows are listed on the View menu under Docking Windows A check mark on the menu item indicates that the corresponding docking window is visible You can hide or show a docking window with these menu commands In addition Trajexia Studio supporis the fo
83. llowing layout operations on docking windows Show or hide the docking window automatically e Dock a docking window against an edge of the IDE or float a docking window over the IDE e Group docking windows together or detach grouped docking windows Showing or hiding a docking window automatically Note Set auto hide Clear auto hide Trajexia Studio supports the auto hide feature for docking windows If this feature is on the window Is minimised to a tab at the edge of the IDE if it does not have the focus The window shows when the mouse pointer is over the tab or in the window The auto hide feature only works if the window is docked To set the auto hide feature of a docking window perform the following steps 1 If the window floats dock it 2 Click the pushpin in the title bar Properties ax Pushpin To clear the auto hide feature of a docking window perform the following steps 1 If the window does not show click on the tab at the edge of the IDE to make it visible 2 Click the pushpin in the title bar Docking windows Section 2 4 Properties x Pushpin 2 4 1 2 Docking or floating a docking window Dock window Note Note Float window Note Note Note To dock a docking window against an edge of the IDE perform the following steps 1 Drag the window away from its current location Four single arrow guide shows at the 4 edges of the IDE Four single arrow guides If the
84. m is disabled The Program Compare window shows the 2 programs in 2 windows that are tiled horizontally where matching lines are at the same horizontal position This viewer makes it very easy to see the differences between the programs instantly The program in the device in the solution is on the left the program in the online device is on the right The table below lists the background colours that the Program Compare window uses to mark the differences Green left window or blue right window The code is present and different 77 Other online actions Section 4 7 4 7 7 Reset 78 The table below lists the toolbar buttons of the Program Compare window and the corresponding description Toolbar button button o Description S Fai a 7 Navigate to the next difference ro Navigate to the previous difference NN Search for a find string in the left or the right window NN Repeat the last search 1 If you want to search for text in the left or right window click in the left or right window and then click the 44 or the aa button The title bar of the Find window shows in which window the search is performed The search is performed from the cursor position forward To close the Program Compare window click the OK button Trajexia Studio can reset an online device This is equivalent to the BASIC command EX or EX 0 The reset is a software reset of the device To reset an online device select the device i
85. m the following steps 1 Inthe Solution Explorer right click Data Traces under the motion device 2 Select Add Data Trace A new data trace is added under Data Traces in the Solution Explorer By default the 4 parameters are digital inputs 0 to 3 3 Right click the data trace in the Solution Explorer and select Open 62 Data traces Section 3 7 Tracel Device1 eSB SE Av H ILa o Display Plot Parameter DigitalInput 0 DigitalInput 1 DigitalInput 2 DigitalInput 3 l l 100 150 200 Time ms Offset Change 0 Eo E E Le 0 0 0 The data trace window shows This window has a toolbar a graph view and a parameter list Data trace window 4 In the parameters list click the ellipsis button in the Change column of the parameter that you want to change 5 Inthe Parameter Selection window select an axis or a set of digital inputs or outputs in the Group list Parameter Selection Group Parameters Flex 0 Name Description Digitallnput z MTYPE The type of move currently being executed DigitallnputOutput NTYPE The type of move in the next move buffer MPOS The position of the axis as measured by the encoder MSPEED The speed of the axis computed from the changed in positi DPOS The demand position in user units FE The following error DRIVE MONITOR The monitored drive data value data specified via DRIVE_ AXISSTATUS The Axis status SPEED The demand speed in units s ACCEL The acceler
86. me In O Error 06 05 2008 13 54 33 Drive Configuration Failure DBLLibrary DBLExcpetion Could not setup the communication due to a DBL exception gt System Runtime In O Error 06 05 2008 13 55 36 Axis Drive Configurartion Failure DBLLibrary DBLExcpetion Failed to get current value gt DBLLibrary DBLExcpetion Failed to get parameter Q Error 06 05 2008 13 55 36 Axis Drive Configurartion Failure DBLLibrary DBLExcpetion Failed to get current value gt DBLLibrary DBLExcpetion Failed to get parameter Q Error 06 05 2008 13 55 36 Axis Drive Configurartion Failure DBLLibrary DBLExcpetion Failed to get current value gt DBLLibrary DBLExcpetion Failed to get parameter Q Error 06 05 2008 13 55 36 Axis Drive Configurartion Failure DBLLibrary DBLExcpetion Failed to get current value gt DBLLibrary DBLExcpetion Failed to get parameter v Error Log window The Error Log window has a list that shows the following columns 23 Docking windows Section 2 4 Note Note Date The date that the error occurred The time that the error occurred Source The operation or the service that generated the error The error message from the source The errors that show in the Error Log window are also appended to a file called ErrorLog log When ErrorLog log is larger than 100 kB it is copied to a backup file called ErrorLogBackup log which overwrites the previous version of Error LogB
87. mouse pointer is over a document window an additional four arrow guide shows in the center of the document window The 4 arrows point to the 4 edges of the document window Four arrow guide for document windows If the mouse pointer is over a docking window an additional two arrow guide shows in the center of the docking window The 2 arrows point to the 2 sides of the docking window Two arrow guide for docking windows 2 Drag the window to the arrow that points to the edge where you want to dock it An outline of the window location shows in the IDE at the proposed location 3 Release the mouse bution The window is docked at the proposed location If you double click in the title bar of a floating docking window the window is docked at its previous docking location If the auto hide feature is set you cannot dock the window To float a docking window over the IDE perform the following steps 1 Drag the window to the desired location 2 Make sure that the mouse pointer is not over an arrow in an arrow guide 3 Release the mouse button If you double click in the title bar of a docked docking window the window floats at its previous location A window that floats always shows on top of the IDE and the document windows If the auto hide feature is set you cannot float the window 21 Docking windows Section 2 4 2 4 1 3 Grouping or detaching docking windows Group windows Note Detach window To group a
88. n the Axis Type list Also drives that are already associated to another axis are not in the list Note If you change the selected axis type in the Axis Type list the selected drive in the Device list is cleared Axis Configuration Axis Name IMLAx01 Axis Type Mechatrolink_Position Associated Device Device R7D Z2N01H ML2 0x41 SGDS 01412 DY 0x44 Axis Configuration window 4 Click OK Note If you associate a drive with an axis Trajexia Studio assigns an axis number to the axis The axis number is determined by the drive address Because drive addresses must be unique the axis numbers are also unique except in the following case If a servo and an inverter have the same last digit in their address for example 41 hex 21 hex and the inverter is associated to an axis as a MECHATROLINK II inverter Trajexia Studio assigns the same axis number to both associated axes This gives a conflict and results in a build error 3 5 4 Using an axis Before you use an axis you must configure it To configure it properly it is useful to monitor the axis and test the axis The Axis Configuration window groups together these actions To show the Axis Configuration window right click an axis in the Solution Explorer and select Configure 3 5 4 1 Configuring an axis The configuration of an axis is determined by the values of the axis parameters and the drive mappings of the associated drive The Configuration tab of the
89. n the Solution Explorer and select Reset Device on the Online menu Introduction Section 5 1 SECTION 5 Debugging 5 1 Introduction Trajexia Studio has an integrated debugger With the debugger you can observe the behaviour of BASIC programs when they are running and find logical or semantic errors in the programs Note The debugger functions are only available when Trajexia Studio is online The Trajexia Studio debugger has the following tools e Breakpoinis e Execution control e Watches Terminal window The debugger tools are only accessible for online devices 5 2 Breakpoints A breakpoint is a mark in the program code that causes the debugger to temporarily stop the execution of the program when it reaches the mark When the execution of the program is stopped at a breakpoint the program execution is said to break and the program and the debugger are said to be in break mode In break mode the state of the program is frozen The variables and I O statuses remain in the memory and their values can be examined The program can resume execution from the break mode at any time A breakpoint is indicated with a dark red background colour in the code editor and with a breakpoint icon in the margin bar of the code editor A breakpoint can have 2 states enabled or disabled Enabled An enabled breakpoint is an active breakpoint lt causes the pro gram execution to break Disabled A disabled breakpoint is inactive
90. nction Selection Basic Switches Direction Selection 0 CCW as forward 1 CW as forward Index Description Drive Value PnOxx Function Selection Constants Pn2xx Position Related Constants amp Pn3xx Speed Related Constants Psx Sequence Related Constants O Prix MECHATROLINK Constants Add Axis To Shell Add Drive Parameters To Shell Drive Configuration window Parameter Editor tab The parameter editor has the following elements e A text field in the upper half which shows the description of the selected parameter e A filter row marked with where you can set a filter on the parameter list The parameter list in the lower half which shows all parameters grouped together in categories To change a parameter enter a new value in the Value column of the selected parameter in the parameter list If the value of the parameter is different from the default value the circle in the first column shows in red amp 3 6 6 2 Transferring the parameters To transfer the drive parameters from Trajexia Studio to the drive or vice versa the device must be online The table below lists the transfer operations that Trajexia Studio supports for drive parameters The third column in the table lists the steps to perform the transfer operation Selected From Trajexia Studio to the drive Change the value All From Trajexia Studio to the drive Click Transfer All To Device Selected From the drive to Trajexia Studio
91. nfluence on other programs It is recommended that they do not do the following They do not start stop or reset the execution of application programs or the SHELL program They do not know about the application programs They only know about the SHELL program The SHELL program and the application programs have different characteristics in Trajexia Studio e A motion device can have one SHELL program lt can have several application programs The auto generated code for a new SHELL program is very extensive The auto generated code for a new application program does only contain some comments but no BASIC commands e Trajexia Studio provides tools to add the code for the definitions of axis parameters drive parameters Table data VR variables and CAM table data to the SHELL program These tools are not available for the application programs Refer to section 3 4 5 e The Solution Explorer shows the icon for the SHELL program in a different colour With these characteristics the SHELL program provides a framework to make sure that your motion application follows the 2 recommendations However Trajexia Studio does not enforce the recommendations This means that the following actions are possible in Trajexia Studio e The SHELL program can be deleted refer to section 3 8 Thus it is possible to have a device without a SHELL program e It is possible to start an application program from another application program 46
92. ng Or click the plus sign in the small square of the outline Hide a visible outline Toggle Outlining Or click the minus sign in the small square of the outline Show all outlines Expand All Outlining Hide all outlines Collapse All Outlining 2 2 6 2 Splitting the window You can split the code editor window If you split the window you can look at different parts of the same window simultaneously This is useful if you want to compare different parts of the code in the same program You can split the window horizontally and vertically To split the window drag or double click the horizontal or the vertical splitter The horizontal splitter is located left of the horizontal scroll bar The vertical splitter is located above the vertical scroll bar SHELL Device1 v x 165 A 166 RUN 167 run ant run act 168 run act READ BIT O signal state 169 run bit run act AND NOT run ant 170 171 STOP 172 stop ant stop act 173 stop act READ BIT 1 signal state v 165 166 RUN 167 run ant run act 168 run _act READ BIT O signal state 169 run bit run act AND NOT run ant 170 171 STOP 172 stop ant stop act 173 stop act READ BIT 1 signal state 174 stop bit stop act AND NOT stop ant 175 176 RESET lt Split code editor 2 2 7 Shortcut keys The code editor supports many shortcut keys to edit the text and navigate through the text Refer to appendix A for an overview of all shortcut keys in the c
93. ode editor 2 3 Tabular views A tabular view is a user interface element that shows a table of values arranged in rows and columns Trajexia Studio uses tabular views to show the following items e Constants O memory 16 Tabular views Section 2 3 e CAM tables e VR memory e Table memory e Watches e Memory areas in the Memory Manager Address Global Name Value Usage Description 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 9 0 0000 10 0 0000 11 0 0000 12 0 0000 13 0 0000 14 0 0000 15 0 0000 16 0 0000 17 0 0000 DME QU NN oa Tabular view The tabular views have the same layout and they have a set of features which are described in this section Not all tabular views have the same features For each feature we list to which tabular views it applies 2 3 1 Change a value in a cell Edit cell Note Paste cells There are 2 ways to change the value in a cell you can edit a cell or paste on a cell To edit a standard cell perform the following steps 1 Select the cell that you want to edit 2 Clickin the cell or press F2 3 Type a new value in the cell 4 Press ENTER If you press ESC instead of ENTER in this step the new value is discarded and the old value restored To edit a drop down cell perform the following steps 1 Select the cell that you want to edit 2 Click the drop down arrow in the cell 3 Select a new value in the drop down list To
94. on or off select Monitor on the Online menu Other online actions Stopping motion A Stop motion 4 7 2 Locking 74 Lock device Trajexia Studio has a motion stop function This function stops all motion on all axes connected to a device and stops all programs that are running in the device Caution The motion stop function in Trajexia Studio is not a safety function and it is not an emer gency stop When you must perform an emergency stop on a device use the physical emergency stop on the device To stop all motion on a device perform the following steps 1 Inthe Solution Explorer select the corresponding device 2 On the Online menu select Stop Motion Trajexia Studio can lock a device If a device is locked you cannot go online This is useful when you want to disable access to the device for unauthorised users To lock a device perform the following steps 1 Inthe Solution Explorer select the device 2 On the Online menu select Lock Device 3 Click Yes in the Lock Device dialog box 4 Inthe Controller Lock Code window type a lock code in the text field Controller Lock Code Enter a numeric code of up to 7 digits a mininum of 5 is recommended Controller Lock Code window 5 Click OK 6 Enter the lock code again in the Controller Lock Code window to confirm the lock code 7 Click OK Other online actions Section 4 7 Caution If you forget the lock code you cannot unlock the devic
95. pe memory area from 40 000 to 40 999 41 000 memory slots are allocated for the Table memory but only 4 000 are used Therefore it is recommended to allocate the 4 Table memory areas contiguously and to set the start address of the first Table memory area to O The default Table memory allocation of a device which is given in the table below supports these recommendations CAM tables 1 000 10 999 Oscilloscope 11 000 12 999 2 000 You can change the Table memory assignment of a device in the Memory Manager tab on the Configuration tab Configuration Device1 v x Configuration Status Communications General Date Time Firmware Update Memory Manager Memory reas Start Address End Address Memory Size Table Memory 0 63999 64000 J Shell 0 299 300 User Table Memory 300 999 700 C CAM Tables 1000 10999 10000 Oscilliscope 11000 12999 2000 Configuration window Memory Manager tab The Memory Manager tab has a tabular view of the memory assignment Refer to section 2 3 1 for information on how to edit a value in a tabular view Devices Section 3 2 Note The start address the end address and the memory size of a memory area are interde pendent If you change one of these values and the cell with this value loses the focus Trajexia Studio changes another value e If you change the start address Trajexia Studio changes the end address e If you change the end address Trajexia Studio changes the memory
96. perform the following steps 1 Inthe Solution Explorer right click the Devices item 2 Select Import Device 3 Inthe Open dialog box select the resource file 4 Click Open Note If the resource file does not contain a valid Trajexia Studio device an error message shows To load a motion device from a resource and add it to a host device perform the following steps 1 Inthe Solution Explorer right click a host device 2 Select Import Device 3 Inthe Open dialog box select the resource file 4 Click Open Note If the resource file does not contain a motion device that can be added to the selected host device an error message shows Note The device in a resource file has a name Trajexia Studio ignores this name when it loads the device from the resource file Instead it gives the device a new name 3 2 2 Saving a device You can save a device to a resource This enables you to use the same device in different solutions or use multiple instances of a device in one solution Save resource To save a device to a resource file perform the following steps 1 Inthe Solution Explorer right click the device 2 Select Export Device 3 Inthe Save As dialog box specify the resource file name and the location to save the file 4 Click Save Note You can save a device and then load it to add a copy of the device to the solution How ever it is more practical to copy the device with the clipboard or with drag and drop refer to
97. ponse within the entered timeout period the communication has failed 33 Devices Section 3 2 Note A slow communication or an action that takes long for example the command MECHATROLINK unit 0 on an ML unit with many axes can cause a timeout With a larger Timeout value you can resolve this problem The other tabs in the Communications tab Ethernet Configuration FINS Configuration and Modbus TCP show the Ethernet FINS and Modbus TCP settings Refer to the documentation of the device for more information on these settings The communication settings of a PLC host device determine the PLC type and the communication network type To change the PLC communication settings click Configure in the Configuration window of the PLC device The Change PLC window which is part of CX Server shows Change PLC Device Type Network Type Ethernet v Settings Comment Change PLC window In the Change PLC window you can change the PLC type and the network type 3 2 3 2 General settings There are 2 general settings for the device Firmware version The firmware of a device determines the supported version of the BASIC programming language and the supported units axes and drives Trajexia Studio comes with a set of integrated firmware versions When you go online to a device that has a different firmware version Trajexia Studio uses the firmware version from the device Note Trajexia Studio stores different firmware
98. ption Name Devicel E Misc Name The user assigned name for the device DeviceName and Name properties of a device 3 2 1 Adding a device Add new device Note Import Motion Perfect 2 project There are 3 ways to add a device to the solution Add anew device Import a Motion Perfect 2 project Import a resource New devices are always added after the existing devices in the solution To add a new device to the solution perform the following steps 1 On the Insert menu select Add device to add If you select Add MCH72 on the Insert menu a PLC host device and an MCH72 motion device under the PLC device are added to the solution To add a new motion device to a host device perform the following steps 1 Inthe Solution Explorer select a host device 2 On the Insert menu select Add motion device to add Trajexia Studio can import Motion Perfect 2 projects into the solution A Motion Perfect 2 project contains the representation of a device and its programs parameters and data Trajexia Studio can convert a Motion Perfect 2 project to a device To import a Motion Perfect 2 project as a device in the solution perform the following steps 1 On the File menu select Import Motion Perfect Project 2 Inthe Open dialog box select the Motion Perfect 2 project file 3 Click Open 31 Devices Section 3 2 Load resource A resource is an XML file that contains a saved Trajexia Studio device To load a resource
99. ra drive A drive is a servo or an Inverter Trajexia Studio supports 3 MECHATROLINK II Master Units MLO4 ML16 and embedded ML You can add slaves to these ML units Add drive To add a drive to an ML unit perform the following steps 1 Inthe Solution Explorer right click the ML unit to which you want to add a drive 2 Select Add Servo or Add Inverter 3 In the Drive Selection window select the family model and firmware version for the drive from the respective lists Drive Selection Drive Type Servo Family R7D ZN Model R7D ZNO1H ML2 Firmware Version 1 Address 0x41 Drive Selection window 4 Inthe Address list select the MECHATROLINK II address for the drive Note The addresses for servos range from 41 hex to 50 hex The addresses for inverters range from 21 hex to 30 hex Trajexia Studio denotes hexadecimal addresses in the format Oxnn where nn is the hexadecimal number 5 Click OK 58 Units Section 3 6 Add I O To add an I O to an ML unit perform the following steps 1 Inthe Solution Explorer right click the ML unit to which you want to add an I O 2 Select Add I O 3 In the Mechatrolink I O Device Selection window select an I O type from the I O Device Type list Mechatrolink 1 0 Device Selection 10 Device Type Generic IO Unit Address 0x65 Mechatrolink I O Device Selection window 4 Inthe Address list select the MECHATROLINK II address for the I O Note The addresses for ser
100. reakpoint Line number area The line number area is a column of white space right of the margin bar It contains the line numbers Note If you click on a line number the entire line is selected e Left margin indicator This is a dotted vertical line at the right side of the line number area It indicates the left margin of the text area Also it indicates the parts of the program code that are built with a green bar or changed with a yellow bar Refer to section 2 2 5 2 e Text area This is the area where you type the text e Right margin indicator This is a dotted vertical line at the right side of the text area It indicates the right margin of the text area SHELL Device1 v 266 MECHATROLINK axes reset sequence 267 FOR i 0 TO max axis x 268 BASE i 269 IF ATYPE gt 40 AND ATYPE lt 42 THEN 270 Reset sequence for MECHATROLINK communication error 271 IF AXISSTATUS AND 4 lt gt 0 THEN 272 PRINT Resetting ML alarm 273 GOSUB system detection 274 ENDIF 275 Reset sequence for DRIVE errors 276 IF AXISSTATUS AND 8 lt gt 0 THEN 277 IF VRiservo_alarm i 2 81 OR VR servo_alarm i 2 CC THEN 278 GOSUB absencoder 279 ELSE 280 Pending to handle diferently those alarms that cannot 281 be resetted with DRIVE CLEAR 282 DRIVE CLEAR 283 ENDIF 284 ENDIF 285 ENDIF 286 NEXT i 287 288 Reset sequence for AXIS error lt Code editor The code editor has several features th
101. recent replace strings If you want to do a search without a replace leave this field empty The search scope is selected in the Look in list Select Current Program to search only in the code editor window that is currently active Select All Programs to search in all open code editor windows Note If you select All Programs you cannot do a replace The Replace with field and the Find Next Replace and Replace All buttons are disabled You can only list all occur rences of the find string in the Find Results window Code editor Section 2 2 The table below lists the search actions that Trajexia Studio supports The second column lists the corresponding buttons in the Find and Replace window Find the next occurrence of the find string Find Next Replace the found occurrence of the find string with the Replace replace string Show a list of all occurrences of the find string in the Find Results window Replace all occurrences of the find string in the current code Replace All editor window with the replace string Show a list of all occurrences of the find string in the Find Results window and mark all occurrences of the find string with a green squiggle and optionally a bookmark Clear all IEN squiggles that mark the occurrences of the Clear Marks find string You can also select Find Next under Find and Replace on the Edit menu This menu is also available outside the Find and Replace win dow 2 To clear all bookma
102. rks select Bookmarks on the Edit menu and then Clear Bookmark Trajexia Studio supports many search options The table below lists the search options The second column lists the corresponding check boxes in the Find and Replace window Search option Check box Search for occurrences of the find string that match the uppercase and lowercase characters in the find string Search for whole words only and ignore occurrences of the Match whole word find string within a word the search direction to up from the cursor position Also search in hidden outlines in the text search in hidden outlines in the text Search hidden text hidden text Saia e A only in the selected text in the code editor co in selection Mark all occurrences of the find string with a bookmark Mark with bookmarks Search for regular expressions or wildcards see below Use To search for a regular expression or a wildcard select the Use check box and select Regular expressions or Wildcards in the list If you search for a regular expression certain characters in the find string represent notations for text patterns If you search for wildcards certain characters in the find string represent a class or a sequence of characters Click the gt button next to the Find what edit field to insert a regular expression character or a wildcard character 2 2 3 2 Incremental search The incremental search operation searches the text while you type the find string Incremental
103. rms a process For example when Trajexia Studio builds a program a device or a solution the status of the build process shows in the Output window Output ax Building Device Device1 Checking Axes and Units Checking Axis FlexAx01 Checking Axis FlexAx01 Failed Checking Axis MLAxO1 Checking Axis MLAx01 Failed Checking Axes and Units Failed Building Program SHELL Building Program SHELL Succeeded O Errors O Warnings Building Program APPLICATION Building Program APPLICATION Succeeded O Errors 1 Warnings Building Device Devicel Failed Output window The table below lists the actions that the Output window supports The second column lists the steps that you must perform to do these actions Copy the contents of the list to the clip Right click on the list and select Copy board Remove all lines from the list Right click on the list and select Clear 2 4 2 6 Solution Explorer window The Solution Explorer window shows the structure of the solution For more information on the solution and the Solution Explorer refer to section 3 2 4 2 7 Properties window The Properties window shows the design time properties of the objects selected in the document windows or in the Solution Explorer The properties can also be changed in the Properties window Properties ax ESE E Description Name Devicel E Misc Name The user assigned name for the dev
104. rogram To open the Terminal window select a device in the Solution Explorer and select Terminal Window on the View menu Terminal window Section 5 5 Terminal Device1 v X PRINT Start Debug gt gt SPEED 500 gt gt Terminal window The Terminal window has 2 parts e Output area This is the large text area that shows all commands executed in the device via the Terminal window prefixed with gt gt and the response from the device e Input field This is the text field at the bottom of the Terminal window where you type the commands to execute in the device The input field supports some useful features which are listed in the table below The second column lists the corresponding keys Do e O Show a list of commands to insert CTRL SPACE See section 2 2 4 2 View the argument information for a command CTRL SHIFT SPACE See section 2 2 5 6 Select the previous or the next command in the ARROR UP or ARROW DOWN list of recent commands To execute a command in the device type the command in the input field and click Send or press ENTER Caution If you execute commands via the Terminal window you can change the synchronisation status of the online device 83 Terminal window 84 Section 5 5 A Shortcut keys in the code editor A 1 Navigation Operation Move the cursor to the first character of the current line HOME Move the cursor to the last character of the current line END ci i
105. section 3 8 3 2 3 Configuring a device The configuration of a device determines the following settings of the device e Communication settings e General settings e Date time settings Memory settings e PLC Memory Mapping settings MCH72 devices only You can change the configuration settings in the Configuration window To open the Configuration window of a device right click the device and select Configure If you change one or more configuration settings you must click Apply in the lower right corner of the Configuration window to save the settings 32 Devices Section 3 2 3 2 3 1 Communication settings Note The communication settings of a motion device determine the communication between Trajexia Studio and an online device For more information about online devices refer to section 4 3 Trajexia Studio supports 3 communication methods with an online device You can set these communication methods on the Configuration tab on the Communications tab on the Configuration tab of the Configuration window of the device Direct communication In this case Trajexia Studio communicates directly with an online device To use direct communication select the Use Device option button and enter the IP address of the device in the IP Address text field For the IP address of the device refer to the documentation of the device e Communication via CX Server CX Server is OMRON software that acis as common communication middl
106. sed When you want the data trace to stop logging before the sample period has elapsed you can right click the data trace in the Solution Explorer and select Stop Logging 3 7 3 Viewing the graph 64 When the data trace logs the values Trajexia Studio can show a graph of these values The graph shows in the graph view of the data trace window The data trace window has many layout features to change the layout of the graph view The table below lists the layout features The second column lists the corresponding steps Show the graph as a standard graph that En is not a scaled graph Click on the toolbar Show the graph as a scaled graph in which the values on the Y axis are scaled Click to a selected axis E on the toolbar Show or hide the graph for a parameter Select or clear the check box in the Display column of the parameter in the parameter list Data traces Section 3 7 Show an axis for the Y axis scale only for Select the checkbox in the Y Axis column scaled graphs in the parameter list Change the minimum and maximum val Change the values in the Y Axis Min and ues for a scaled Y axis only for scaled Y Axis Max columns in the parameter list Select or clear the automatic adjustment of 4 the X axis scale as the graphs are drawn Click on the toolbar in the graph view Show or hide the markers that indicate points on the graph Click a on the toolbar Show or hide the grid lines 4 Click on the toolbar
107. st be set before the data can be exchanged This is called the configuration of the DRT unit or the PRT unit Configure unit To configure the DRT unit or the PRT unit perform the following steps 1 In the Solution Explorer right click the DRT unit or the PRT unit that you want to configure 2 Select Configure 3 In the DRT Configuration window or the PRT Configuration window enter the memory start address and the memory size for the VR input memory area and the VR output memory area in the text fields 57 Units Section 3 6 PRT Configuration VR Table Input Start Address 0 Address Size 0 VR Table Output Start Address 0 Address Size 0 PRT Configuration window 4 Click OK When the device is built Trajexia Studio adds code to the Omron Auto Generated Units section of the SHELL program to detect and configure the unit 3 6 3 CORT unit The CORT unit can be added to a motion device but it has no functionality in Trajexia Studio The CORT unit in a device can be supported with the BASIC command CAN_CORT 3 6 4 FLunit An FL unit can control 2 analogue drives These drives are called A and B When an FL unit is added to a motion device the 2 drives A and B are available to associate with a flexible axis refer to section 3 5 3 3 6 5 MECHATROLINK II slaves MECHATROLINK II is a motion network It consists of a master unit and a number of slaves in serial connection to the master unit A slave is an I O o
108. tem in the synchronisation If you select or clear the check box of an item in the tree that has child items all the check boxes of the child items are selected or cleared The advanced synchronisation also supporis the Fast Program Transfer mode in which all programs are deleted from the device in the solution or in the online device before all programs are transferred To synchronise programs in the Fast Program Transfer mode perform one of the following actions e Select the Fast Program Transfer Mode check box e Select the Programs check box in the tree view and select the Delete all programs on target before transfer check box The Fast Program Transfer Mode check box is enabled when the Programs check box is selected in the tree view and the Delete all programs on target before transfer check box is selected In all other situations the Fast Program Transfer Mode check box is disabled Monitoring Section 4 6 Note Note Click Transfer To Device to transfer ffom the device in the solution to the online device Click Transfer From Device to transfer from the online device to the device in the solution Click Connect Only to keep the device online without synchronising items If a program is running you cannot transfer it to the online device Sometimes you cannot transfer a program to an online device when another program is running This depends on the device If you cannot transfer a program because another progr
109. ter values A parameter can be an axis parameters a digital input or a digital output of a device Trajexia Studio can show the data trace values as a graph This graph is useful to represent the motion in a device and can help when you develop or debug a motion application Also Trajexia Studio can save the values in a file A data trace in Trajexia Studio consists of the following items e Four parameters that are monitored A sample period which is the period of time during which the parameter values are logged e A sample rate which is the interval between logging 2 consecutive parameter values Trajexia Studio can only log the data trace values when the device is online For more information on online devices refer to section 4 4 Note Trajexia Studio uses the Oscilloscope memory area to store the data trace values You must make sure that the Oscilloscope memory area is large enough to store all values The number of values is determined by the formula sample period sample rate x 4 because a data trace monitors 4 parameters For example if the sample period is 10 s and the sample rate is 2 ms 0 002 s the size of the Oscilloscope memory area must be at least 10 0 002 x 4 20 000 If it is less Trajexia Studio shows an error mes sage Refer to section 3 2 3 4 for information on changing the size of the Oscilloscope mem ory area 3 7 1 Adding a data trace Add data trace To add a data trace to a motion device perfor
110. teristics and the hardware characteristics of an axis Trajexia Studio supports axes at two levels Axes Section 3 5 3 5 2 e Axes When Trajexia Studio uses the word axis it refers to the functional characteristics of an axis There characteristics are Axis type MECHATROLINK II flexible or virtual Functionality position soeed or torque encoder or pulse output These axes show under Axes in the Solution Explorer Drives connected to units This level supports the hardware related characteristics of an axis These are Hardware servo or inverter model firmware version The unit to which it is connected and the port or address it uses on this unit Drives are connected to units which show under Units in the Solution Explorer Axes are described in this section Units and drives are described in section 3 6 Units Adding an axis Add axis To add an axis to a motion device perform the following steps 1 In the Solution Explorer right click Axes under a motion device 2 Select Add axis type to add 3 In the Axis Configuration window type a name for the axis in the Axis Name text field Axis Configuration Axis Name Axis Type Mechatrolink_Position Associated Device Device vi Axis Configuration window 4 Inthe Axis Type list select an axis type Note You can change the axis type For example if you selected Add Flexible Axis in step 2 you can change the axis type in this step to a
111. the execution of the other programs For example a program can start another program with the command RUN The results of a motion application where the programs have an influence on the other programs can be unpredictable and even dangerous Therefore it is recommended to minimise the influence that the programs can have on other programs This can be done with the following 2 recommendations There is one program that can have an influence on other programs This is the control program The control program does the following It starts stops and resets the execution of other programs It monitors the execution of other programs e All other programs are separate They do not have an influence on other programs They do not do the following They do not start stop or reset the execution of other programs They do not know about the other programs except the control program To support these recommendations Trajexia Studio provides 2 kinds of programs the SHELL program and the application programs e The SHELL program is intended as the control program lt does the following The SHELL program starts stops and resets the execution of the application programs The SHELL program monitors the execution of the application programs The SHELL program monitors the drive statuses The SHELL program initialises the axis parameters Table data VR variables and CAM table data The application programs must not have an i
112. tudio it automatically creates an empty solution An empty solution is a solution without devices When you open an existing solution Trajexia Studio closes the current solution To close the current solution and create a new solution perform the following steps 1 On the File menu select New To open a solution perform the following steps 1 On the File menu select Open 2 Inthe Open dialog box select the solution file 3 Click Open To save an existing solution perform the following steps 1 On the File menu select Save To save a new solution or a copy of an existing solution perform the following steps 1 On the File menu select Save As 2 Inthe Save As dialog box specify the solution file name and the location to save the file 3 Click Save 29 Devices Section 3 2 Note A solution file has the extension tjs The contents of the file is in XML format Protect solution You can protect the solution with a password A protected solution is 3 2 30 A Note Note Devices encrypted when it is saved You can only open a protected solution if you have the password To protect the solution perform the following steps 1 On the Tools menu select Solution Password 2 Inthe Password window type the password in the Password text field Password Password Protect Solution Password Reenter Password Caution If you lose or forget the password it cannot be recovered It is advisable to k
113. udience This documentation is intended for designers developers and testers of motion applications They must have a good knowledge of the concepts of motion control devices and the BASIC programming language 1 2 This documentation This documentation contains the following sections Contents What is Trajexia Studio who is it for what do you need to use it The Trajexia Studio user interface its windows how to use it and how to adjust it to your preferences The items to develop a motion application How to solve problems in a motion application how to optimise the motion application resin inh a How to execute motion How to execute motion applications how to monitor their execution how to monitor their execution A An overview of all keyboard shortcuts in the code editor Installation Section 1 3 1 3 Installation 1 3 1 System requirements Trajexia Studio is a Microsoft Windows application The minimum versions of Microsoft Windows that Trajexia Studio supports are e Windows 2000 SP3 e Windows XP SP2 e Windows Vista Business Edition The table below lists the system requirements for the computer on which you install Trajexia Studio Windows 2000 or XP Windows Vista Minimum Recommended Minimum Recommended Processor 333 MHz Pen 1 GHz Pentium As recommended by Microsoft tium Il or com Ill or compatible Hard disk space 512 MB em CX Server SVGA SVGA 800 x 600 do x 768 800 x 600 oe x 768 256
114. ution If the program has no breakpoints the execution stops at the end of the program 5 3 2 Stopping execution Stop execution If you stop the execution of a program you stop the debugger This is different from the break mode in which the debugger is still active and from which you can resume the execution To stop the execution of a program perform the following steps 1 Inthe Solution Explorer select the program 2 Onthe Programs menu select Stop 5 3 3 Stepping through a program Step through program If you step through a program you execute one line of code at a time after which the program is in break mode To execute the next line of code step again To step through a program perform the following steps 1 Open the code editor window of the program 2 Make sure that the program is in break mode 3 On the Programs menu select Step After each step the program is in break mode In break mode you can continue stepping or you can restart the execution see section 5 3 1 5 3 4 Navigating to the execution location 80 Navigate to current line If a program is running it can be useful to know which line of the program is currently executed To navigate to the line in the program that is executed perform the following steps 1 Open the code editor window of the program 2 Onthe Programs menu select Goto Current Line The cursor in the code editor window moves to the line of code that is currently
115. vice You can change the date and time and transfer them to the device Configuration Device1 v x Configuration Status Communications General Date Time Firmware Update Memory Manager 01 January 2008 v 00 00 00 Es Configuration window Date Time tab 3 2 3 4 Memory settings The Table memory of a motion device is a large memory for global data It is used to store large amounts of data such as motion profiles or logging data It can be used to create CAM tables and data traces use it to store data real time The Table memory can be addressed with indexes The size of the Table memory is 64 000 slots and the slot indexes range from 0 to 63 999 The Table memory is divided in the following areas Memory area For use by Shell SHELL program User Table memory SHELL program and application programs 35 Devices 36 Section 3 2 CAM tables CAM tables When you allocate Table memory to these areas it is important to observe the following e A device has one memory which is used for the programs and the Table memory The larger the Table memory is the less memory is available for programs Therefore it is recommended to keep the size of the Table memory to a minimum e The Table memory is created from O to the largest end address Thus if you set the Shell memory area from 10 000 to 10 999 the User Table memory area from 20 000 to 20 999 the CAM tables memory area from 30 000 to 30 999 and the Oscillosco
116. vos range from 60 hex to 7F hex 5 Click OK Reset network You can reset the MECHATROLINK II network of an ML unit This can be necessary when there is a communication problem Resetting the network is done with a network initialisation when the slaves in a MECHATROLINK II network are detected and connected To reset the MECHATROLINK II network perform the following steps 1 Inthe Solution Explorer right click the ML unit 2 Select Initialise MECHATROLINK II Network Note To reset the MECHATROLINK II network Trajexia Studio sends the BASIC command MECHATROLINK unit number 0 to the device 3 6 6 Configuring a drive The Drive Configuration window groups together the following drive configuration operations and information e Change the drive parameters e Transfer the drive parameters to and from the drive Monitor the drive e Reset the drive Generate code for the SHELL program To open the Drive Configuration window right click a drive in the Solution Explorer and select Configure 3 6 6 1 Changing the drive parameters The drive configuration consists of a set of drive parameters and their values You can change the drive parameters in the parameter editor which is on the Parameter Editor tab on the Configuration tab in the Drive Configuration window 59 Units Section 3 6 EE Drive Configuration R7D ZNO1H ML2 0x41 Configuration Monitoring Drive Reset General Parameter Editor Pn000 0 Reverse Rotation Fu
117. window 71 Synchronisation Section 4 5 72 Note Note Note The advanced Synchronise with Device window shows a tree view of the device and the programs the VR memory and the Table memory under Global Data the axes the units and the drives under the units to which they are connected The tree view uses colours to indicate the matches and the differences between the device in the solution and the online device and icons to indicate the synchronisation status Colour Description Synchronised The items in the device match The items in the device are different Green In Project The item exists in the device in the solution but not in the online device Blue On Device The item exists in the online device but not in the device in the solution The Solution Explorer uses the colours black red and green to indicate the matches and differences of the items under a device in the solution and the online device If a program in the device in the solution and the corresponding program on the online device are different you can compare the programs with a viewer that shows the differ ences Refer to section 4 7 6 Synchronised The items are synchronised o Not checked Trajexia Studio has not checked if the items are synchronised arning The item exists in the online device but not in the device in the solution or vice versa The items are different Each item has a check box Select the check box to include the i
118. xia Studio For example if a device is online the monitoring mode is on and the VR Memory window of the device is open and has the focus only the VR variables that are visible in the VR Memory window are transferred from the online device to the device in the solution When you scroll the VR Memory window up or down another set of VR variables is visible and then these variables are automatically synchronised in the background 1 The reason for this implementation is efficiency Because synchronisation of large amounts of data such as the complete Table memory is slow only the visible part is transferred 73 Other online actions Section 4 7 4 7 4 7 1 Note Note When the user is entering text in an edit field Trajexia Studio does not show the new values of variables that are updated by the background synchronisation When the user finishes or cancels entering text in an edit field the updated values of the variables are shown in Trajexia Studio The automatic background synchronisation also works in the other direction from the device in the solution to the online device When you change a value in the Table memory a CAM table the VR memory or an axis parameter in the device in the solution this value is automatically transferred to the online device The following values are read only and cannot be changed when the device is online e Constants The global name of a VR variable To set the monitoring mode

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