BASIC commands
PROGRAMMING MANUAL 104
Revision 1.0
3.2.137 FPGA_VERSION
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3.2.138 FRAC
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3.2.139 FRAME
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3.2.140 FREE
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Type Slot parameter
Syntax FPGA_VERSION SLOT(unit_number)
Description This parameter returns the FPGA version of the unit with unit_number in a
controller system.
Arguments • unit_number
Unit numbers are -1 to 6, including 0, with -1 being the TJ2-MC64 and 0
being the unit immediately to the right of the TJ2-MC64.
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
Type System function
Syntax FREE
Description The FREE function returns the remaining amount of memory available for
user programs.
Note: Each line takes a minimum of 4 characters (bytes) in memory. This is for
the length of this line, the length of the previous line, number of spaces at the
beginning of the line and a single command token. Additional commands
need one byte per token; most other data is held as ASCII.
The TJ2-MC64 compiles programs before they are executed, this means that
a little under twice the memory is required to be able to execute a program.
Arguments N/A
Example >> PRINT FREE
47104.0000
See also DIR
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