BASIC commands
PROGRAMMING MANUAL 140
Revision 3.0
3.2.248 SQR
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3.2.249 SRAMP
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3.2.250 STEP
See FOR..TO..STEP..NEXT.
3.2.251 STEP_RATIO
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Type Mathematical function
Syntax SQR(expression)
Description The SQR function returns the square root of the expression. The expression
must have positive (including 0) value.
Arguments • expression
Any valid BASIC expression.
Example >> PRINT SQR(4)
2.0000
See also N/A
Type Axis parameter
Syntax SRAMP
Description The SRAMP parameter contains the S-curve factor. The S-curve factor con-
trols the amount of rounding applied to the trapezoidal profiles. A value of 0
sets no rounding. A value of 10 sets maximum rounding. The default value of
the parameter is 0.
SRAMP is applied to the FORWARD, MOVE, MOVEABS, MOVECIRC,
MHELICAL and REVERSE commands.
Notes:
• Using S-curves increases the time required for the movement to com-
plete.
• The S-curve factor must not be changed while a move is in progress.
Arguments N/A
Example No example.
See also AXIS.
Type Axis command
Syntax STEP_RATIO(output_count, dpos_count)
Description This command sets up a ratio for the output of the axis stepper. Every servo-
period the number of steps is passed through the STEP_RATIO function
before it goes to the step pulse output.
Pulse Count Out = (numerator)/(denominator) * MPOS.
STEP_RATIO affects both MOVECIRC and CAMBOX.
Notes:
•The STEP_RATIO function operates before the divide by 16 factor in the
stepper axis.
• Large ratios should be avoided as they will lead to either loss of resolu-
tion or much reduced smoothness in the motion. The actual physical step
size x 16 is the BASIC resolution of the axis and use of this command
may reduce the ability of the Motion Controller to accurately achieve all
positions.
• STEP_RATIO does not replace UNITS. Do not use STEP_RATIO to
remove the x16 factor on the stepper axis as this will lead to poor step
frequency control.
Arguments • denominator
An integer number between 0 and 16777215 that is used to define the
denominator in the above equation.
• numerator
An integer number between 0 and 16777215 that is used to define the
numerator in the above equation.
I52E-EN-03.book Seite 140 Freitag, 29. Juni 2007 11:55 11
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