Omron TJ2-MC64 - PROGRAMMING - Page 159

BASIC commands
PROGRAMMING MANUAL 153
Revision 1.0
fig. 50/i
fig. 51/i
/i
3.2.204 MTYPE
/i
30
30
Example A move is needed that follows a spherical path which ends 30mm up in the Z
direction:
BASE(3,4,5)
MSPHERICAL(30,0,30,8.7868,0,21.2132,0)
30
30
45º
Example A similar move that follows a spherical path but at 45 degrees to the Y axis
which ends 30mm above the XY plane:
BASE(0,1,2)
MSPHERICAL(21.2132,21.2132,30,6.2132,6.2132,21.2132,0)
See also N/A
Type Axis parameter (read-only)
Syntax MTYPE
Description The MTYPE parameter contains the type of move currently being executed.
The possible values are given in the table below.