BASIC commands
PROGRAMMING MANUAL 49
Revision 3.0
3.2.30 ATYPE
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3.2.31 AUTORUN
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3.2.32 AXIS
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Description The ATAN2 function returns the arc-tangent of the non-zero complex number
(expression2, expression1), which is equivalent to the angle between a
point with coordinate (expression1, expression2) and the x-axis. If
expression2 >= 0, the result is equal to the value of ATAN(expression1 /
expression2). The result in radians will be between -PI and PI.
Arguments • expression1
Any valid BASIC expression.
• expression2
Any valid BASIC expression.
Example >> PRINT ATAN2(0,1)
0.0000
See also N/A
Type Axis parameter
Syntax ATYPE = value
Description The ATYPE axis parameter sets the axis type for the axis. The valid values
depend on TJ1 module the Servo Driver controlling the axis is connected to.
See the table below.The ATYPE parameters are set by the system at start-up.
For axes controlled by the Servo Drivers connected to the system via
MECHATROLINK-II bus, the default ATYPE value is 41 (Mechatro Speed).
For axes controlled by the Servo Drivers connected to the system via the TJ1-
FL02, the default ATYPE value is 44 (Flexible axis Servo).
Arguments N/A
Example ATYPE AXIS(1) = 45
This command will set axis 1 as Flexible axis encoder output axis.
See also AXIS
AXIS type ATYPE value Applicable TJ1 unit
Virtual 0 All
Mechatro Position 40 TJ1-ML__ (MECHATRO-
LINK-II Master Unit)
Mechatro Speed 41 TJ1-ML__
Mechatro Torque 42 TJ1-ML__
Flexible axis Stepper Out 43 TJ1-FL02
Flexible axis Servo 44 TJ1-FL02
Flexible axis Encoder Out 45 TJ1-FL02
Flexible axis Absolute Tamagawa 46 TJ1-FL02
Flexible axis Absolute EnDat 47 TJ1-FL02
Flexible axis Absolute SSI 48 TJ1-FL02
Type Program command
Syntax AUTORUN
Description The AUTORUN command starts all the programs that have been set to run at
start-up.
Arguments N/A
Example No example.
See also RUNTYPE
Type System command
Syntax AXIS(axis_number)
AXIS type ATYPE value Applicable TJ1 unit
I52E-EN-03.book Seite 49 Freitag, 29. Juni 2007 11:55 11
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