BASIC commands
PROGRAMMING MANUAL 109
Revision 3.0
3.2.174 MHELICAL
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3.2.175 MOD
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3.2.176 MOTION_ERROR
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Type Axis command
Syntax MHELICAL(end1, end2, centre1, centre2, direction, distance3)
MH(end1, end2, centre1, centre2, direction, distance3)
Description Performs a helical move, that is, moves 2 orthogonal axes in such a way as to
produce a circular arc at the tool point with a simultaneous linear move on a
third axis. The first 5 parameters are similar to those of a MOVECIRC() com-
mand. The sixth parameter defines the simultaneous linear move.
Finish 1 and centre 1 are on the current BASE axis. Finish 2 and centre 2 are
on the following axis.
The first 4 distances and the sixth parameter are scaled according to the cur-
rent unit conversion factor for each axis.
Arguments • end1
Position on BASE axis to finish at.
• end2
Position on next axis in BASE array to finish at.
• centre1
Position on BASE axis about which to move.
• centre2
Position on next axis in BASE array about which to move.
• direction
The direction is a software switch which determines whether the arc is
interpolated in a clockwise or anti- clockwise direction. The parameter is
set to 0 or 1. See MOVECIRC.
• distance3
The distance to move on the third axis in the BASE array axis in user
units.
Example No example.
See also MOVECIRC.
Type Mathematical function
Syntax expression1 MOD expression2
Description The MOD function returns the expression2 modulus of expression1. This
function will take the integer part of any non-integer input.
Arguments • expression1
Any valid BASIC expression.
• expression2
Any valid BASIC expression.
Example >> PRINT 122 MOD 13
5.0000
See also N/A
Type System parameter (read-only)
Syntax MOTION_ERROR
Description The MOTION_ERROR parameter contains a bit pattern showing the axes
which have a motion error. For example. if axis 2 and 6 have the motion error
the MOTION_ERROR value would be 68 (4+64).
A motion error occurs when the AXISSTATUS state for one of the axes
matches the ERRORMASK setting. In this case the enable switch (WDOG)
will be turned off, and MOTION_ERROR contains a bit pattern showing all
axes which have the motion error and the ERROR_AXIS parameter will con-
tain the number of the first axis to have the error.
A motion error can be cleared executing a DATUM(0) command.
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, DATUM, ERROR_AXIS, ERRORMASK, WDOG.
I52E-EN-03.book Seite 109 Freitag, 29. Juni 2007 11:55 11
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