How-to’s Section 5-1
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5-1 How-to’s
5-1-1 Startup program
The purpose of this program is to compare the detected MECHATROLINK-II
configuration with the expected one (the expected configuration is the
configuration existing in the moment you create the program).
The STARTUP program does these actions:
• Checks the number of nodes in the system.
• Checks that the node numbers agrees.
• Checks if all slaves are connected and have power.
• Any non agreement, the program stops.
• Sets the correct ATYPE as selected in the intelligent axis window.
• Sets the mode, Run or Commisioning.
5-1-1-1 How to set a startup program
When you add a new CJ1W-MCH72 device to the solution in Trajexia Studio, 2
programs are created by default: the SHELL program, and an application
program called APPLICATION.
Default programs SHELL and APPLICATION
A CJ1W-MCH72 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 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.
Note The SHELL program by default runs at startup at priority 1.
Note OMRON recommends that the statement RUN “your_program” is used at the end of
the Startup program to start your application program. The application program starts
when the startup program is executed successfully and without errors.
If you set an application program to “Run at startup” there is a risk that the machine
starts if there is an error on the MECHATROLINK-II bus.
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