Omron TJ2-MC64 - PROGRAMMING - Page 129

BASIC commands
PROGRAMMING MANUAL 123
Revision 1.0
3.2.174 JOGSPEED
/i
3.2.175 KEY
/i
Description INVERTER_WRITE writes the parameter, speed reference or torque refer-
ence from the Inverter connected to the system via the MECHATROLINK-II
bus.
There are three INVERTER_WRITE functions:
• 0: Writes an Inverter parameter.
• 2: Writes the speed reference.
• 3: Writes the torque reference.
To use an Inverter via MECHATROLINK-II you should put the command and
the reference via communication option:
• Inverter MV/V7: N3=3; N4=9
• Inverter F7/G7: B1-01=3; B1-02=3.
Make you sure that the Inverter firmware supports the MECHATROLINK-II
board.
The command returns -1 if successfully executed and 0 if failed. The result (if
any) is returned in the selected VR.
Arguments • module
The number of the TJ1-ML__ that the Inverter is connected to.
• station
The MECHATROLINK-II station number of the Inverter
• param_number
The number of the parameter to write. See the Inverter manual.
• param_size
The size of the parameter to write, 2 or 4 bytes. Most of the Inverter
parameters are 2 bytes long. See the Inverter manual.
• VR
The address in the VR memory of the TJ2-MC64 where the new value for
the parameter is.
• mode
0 = just write; 1= write and enter; 2 = write and config.
• value
The new value that is written.
Example >>INVERTER_WRITE(1,$23,2,3500)
>>INVERTER_READ(1,$23,2,100)
>>PRINT VR(100)
3500.0000
See also N/A
Note
If you have to transfer many parameters at the same time, the
most efficient way is to use MODE 0 for all but the last parameter,
and MODE 1 for the last parameter.
MODE 0 is executed faster than MODE 1.
Type Axis parameter
Syntax JOGSPEED
Description The JOGSPEED parameter sets the jog speed in user units for an axis. A jog
will be performed when a jog input for an axis has been declared and that
input is low. A forward jog input and a reverse jog input are available for each
axis, respectively set by FWD_JOG and REV_JOG. The speed of the jog can
be controlled with the FAST_JOG input.
Arguments N/A
Example No example.
See also AXIS AXIS, FAST_JOG, FWD_JOG, REV_JOG, UNITS.
Type Communication parameter
Syntax KEY [ #n ]
Description The KEY parameter returns TRUE or FALSE depending on if a character has
been received on an input device or not. This command does not read the
character but allows the program to test if any character has arrived. A TRUE
result will reset when the character is read with the GET command.
Channels 5 to 7 are logical channels that are superimposed on the program-
ming port 0 when using Trajexia Studio.
Note: Channel 0 is reserved for the connection to Trajexia Studio and/or the
Command Line Terminal interface. Please be aware that this channel may
give problems for this function.