109
Command Reference List Section 6-2
6-2-10 Task Commands and Parameters
The table below outlines the task commands and parameters. Refer to the
specified pages for details.
REG_POS REG_POS contains the position at which a registration event
occurred.
174
REMAIN REMAIN is the distance remaining to the end of the current
move.
177
REP_DIST REP_DIST contains sets the repeat distance. 177
REP_OPTION REP_OPTION controls the application of the REP_DIST axis
parameter.
178
REV_IN REV_IN contains the input number to be used as a reverse
limit input.
179
REV_JOG REV_JOG contains the input number to be used as a jog
reverse input.
179
RS_LIMIT RS_LIMIT contains the absolute position of the reverse soft-
ware limit.
180
S_RATE S_RATE contains the speed reference rate for the attached
Servomotor.
181
S_REF S_REF contains the speed reference value which is applied
when the axis is in open loop.
182
S_REF_OUT S_REF_OUT contains the speed reference value being
applied to the Servo Driver for both open as closed loop.
182
SERVO SERVO determines whether the axis runs under servo control
or open loop.
184
SPEED SPEED contains the demand speed in units/s. 186
SRAMP SRAMP contains the S-curve factor. 186
T_RATE T_RATE contains the torque reference rate for the attached
Servomotor.
188
T_REF T_REF contains the torque reference value which is applied
to the Servomotor.
188
UNITS UNITS contains the unit conversion factor. 191
VFF_GAIN VFF_GAIN contains the speed feed forward control gain. 192
VP_SPEED VP_SPEED contains the speed profile speed. 192
Name Description Page
Name Description Page
ERROR_LINE ERROR_LINE contains the number of the line which caused
the last BASIC program error.
136
PMOVE PMOVE contains the status of the task buffers. 169
PROC PROC allows a process parameter from a particular process
to be accessed.
171
PROC_LINE PROC_LINE returns the current line number of the specified
program task.
171
PROC_STATUS PROC_STATUS returns the status of the process specified. 172
PROCNUMBER PROCNUMBER contains the number of the task in which the
currently selected program is running.
172
RUN_ERROR RUN_ERROR contains the number of the last BASIC error
that occurred on the specified task.
180
TICKS TICKS contains the current count of the task clock pulses. 189
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