Omron TJ2-MC64 - PROGRAMMING - Page 182

BASIC commands
PROGRAMMING MANUAL 176
Revision 1.0
3.2.243 REGIST_SPEEDB
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3.2.244 REMAIN
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3.2.245 RENAME
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3.2.246 REP_DIST
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Type Axis parameter (read-only)
Syntax REGIST_SPEEDB
Description Provides access to the MSPEED at the time of the secondary registration
event.
Arguments N/A
Example No example.
See also REGIST
Type Axis parameter (read-only)
Syntax REMAIN
Description The REMAIN parameter contains the distance remaining to the end of the
current move. It can be checked to see how much of the move has been com-
pleted.
The units in which REMAIN is expressed depends on the type of the motion
command:
• If a master axis is moved by MOVELINK or CAMBOX, REMAIN is
expressed in user units set by UNITS.
• If a slave axis is moved by MOVELINK or CAMBOX, REMAIN is
expressed in encoder counts.
• If a master or a slave axis is moved by a motion command that is not
MOVELINK or CAMBOX, REMAIN is expressed in user units set by
UNITS.
The CONNECT command moves an axis without a defined end. For this
command, REMAIN has the fixed value of 1000.
Arguments N/A
Example To change the speed to a slower value 5mm from the end of a move.
start:
SPEED = 10
MOVE(45)
WAIT UNTIL REMAIN < 5
SPEED = 1
WAIT IDLE
See also AXIS, UNITS
Type Program command
Syntax RENAME "old_program_name" "new_program_name"
Description The RENAME command changes the name of a program in the TJ2-MC64
directory. The program names can also be specified without quotes.
Note: This command is implemented for a Command Line Terminal only and
should not be used from within programs. Within Trajexia Studio users can
select the command from the Program menu.
Arguments • old_program_name
The current name of the program.
• new_program_name
The new name of the program.
Example RENAME "car" "voiture"
See also COPY, DEL, NEW.
Type Axis parameter
Syntax REP_DIST