BASIC commands
PROGRAMMING MANUAL 99
Revision 1.0
3.2.132 FHSPEED
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3.2.133 FINS_COMMS
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Type Axis parameter
Syntax FHSPEED
Description The FHSPEED axis parameter contains the feedhold speed. This parameter
can be set to a value in user units/s and defines at which speed the axis will
move when the feedhold input turns on. The current move is not cancelled.
FHSPEED can have any positive value including 0. The default value is 0.
This default value is applicable to most applications as motion is usually
ramped down to zero speed when the freehold input is set. In some cases it
may be desirable for the axis to ramp to a known constant speed when the
freehold input is set.
Note: This feature only works on speed controlled moves. Moves which are
not speed controlled (CAMBOX, CONNECT and MOVELINK) are not
affected.
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, FHOLD_IN, UNITS.
Type Communication command
Syntax FINS_COMMS(type, network, node, unit, remote_area, remote_offset,
length, local_area, local_offset, timeout [, ip1, ip2, ip3, ip4])
Description FINS (Factory Interface Network Service) is a Proprietary OMRON communi-
cation protocol. A subset of this protocol has been implemented in Trajexia.
The FINS protocol has been implemented with the intention of enabling
seamless communication with other OMRON devices (PLCs, HMIs, etc.) and
software (CX-Drive, CX-Server, etc.). For more information on FINS commu-
nication protocol, see section 4.2.3 and the Communication Commands Ref-
erence Manual, cat. num. W342-E1, Sections 3 and 5.
Trajexia has built in FINS client capabilities, so it can initiate the FINS commu-
nications with FINS slave devices using FINS_COMMS. Only FINS 0101
(Read Memory) and FINS 0102 (Write Memory) commands are implemented
at the moment of this writing. With FINS 0101, memory can be read from
other devices with FINS server capability. FINS 0102 can be used to write
data to devices with FINS server capability.
This command returns one of the following values, depending on outcome of
the execution:
-1: The command executed successfully.
0: The command failed.
1: Request not sent because the client or the FINS protocol is busy.
2: One or more of the request parameters are invalid.
3: Invalid source memory area.
4: Request was sent, but no response from remote server received within
timeout period.
5: Error response code received from remote server.
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