BASIC commands
PROGRAMMING MANUAL 86
Revision 3.0
3.2.125 FORWARD
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3.2.126 FPGA_VERSION
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3.2.127 FRAC
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3.2.128 FRAME
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Type Axis command
Syntax FORWARD
FO
Description The FORWARD command moves an axis continuously forward at the speed
set in the SPEED axis parameter. The acceleration rate is defined by the
ACCEL axis parameter.
FORWARD works on the default basis axis (set with BASE) unless AXIS is
used to specify a temporary base axis.
Note: The forward motion can be stopped by executing the CANCEL or
RAPIDSTOP command, or by reaching the forward limit.
Arguments N/A
Example start:
FORWARD
WAIT UNTIL IN(0) = ON ' Wait for stop signal
CANCEL
See also AXIS, CANCEL, RAPIDSTOP, REVERSE, UNITS.
Type Slot parameter
Syntax FPGA_VERSION SLOT(unit_number)
Description This parameter returns the FPGA version of unit with unit_number in a con-
troller system.
Arguments • unit_number
Unit numbers are -1 to 6, including 0, with -1 being the TJ1-MC__ and 0
being the unit immediately to the right of the TJ1-MC__.
Example N/A
See also N/A
Type Mathematical function
Syntax FRAC(expression)
Description The FRAC function returns the fractional part of the expression.
Arguments • expression
Any valid BASIC expression.
Example >> PRINT FRAC(1.234)
0.2340
See also N/A
Type System parameter
Syntax FRAME=value
Description Used to specify which frame to operate within when employing frame transfor-
mations. Frame transformations are used to allow movements to be specified
in a multi-axis coordinate frame of reference which do not correspond one-to-
one with the axes. An example is a SCARA robot arm with jointed axes. For
the end tip of the robot arm to perform straight line movements in X-Y the
motors need to move in a pattern determined by the robots geometry.
Frame transformations to perform functions such as these need to be com-
piled from C language source and loaded into the controller system software.
Contact OMRON if you need to do this.
A machine system can be specified with several different frames. The cur-
rently active FRAME is specified with the FRAME System parameter.
The default FRAME is 0 which corresponds to a one-to-one transformation.
Arguments N/A
Example FRAME=1
See also N/A
I52E-EN-03.book Seite 86 Freitag, 29. Juni 2007 11:55 11
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