BASIC commands
PROGRAMMING MANUAL 177
Revision 1.0
3.2.247 REP_OPTION
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3.2.248 REPEAT..UNTIL
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Description The REP_DIST parameter contains the repeat distance, which is the allowa-
ble range of movement for an axis before the demand position (DPOS) and
measured position (MPOS) are corrected. REP_DIST is defined in user units.
The exact range is controlled by REP_OPTION. The REP_DIST can have
any non-0 positive value.
When the measured position has reached its limit, the TJ2-MC64 will adjust
the absolute positions without affecting the move in progress or the servo
algorithm. Note that the demand position can be outside the range because
the measured position is used to trigger the adjustment. When measured
position reaches REP_DIST, twice that distance is subtracted to ensure that
the axis always stays in the range [-REP_DIST, REP_DIST], assuming that
REP_OPTION=OFF, or in the range [0, REP_OPTION], assuming that
REP_OPTION=ON.
For every occurrence (DEFPOS, OFFPOS, MOVEABS, MOVEMODIFY)
which defines a position outside the range, the end position will be redefined
within the range.
The default value for all axes is 5000000.
Arguments N/A
Example No example.
See also AXIS, DPOS, MPOS, REP_OPTION, UNITS.
Type Axis parameter
Syntax REP_OPTION
Description The REP_OPTION parameter controls the application of the
REP_DIST axis parameter and the repeat option of the CAMBOX
and MOVELINK Axis commands. The default value is 0. See the
table below.
Bit Description
0 The repeated distance range is controlled by bit 0 of the REP_OPTION parameter.
• If REP_OPTION bit 0 is off, the range of the demanded and measured positions
will be between -REP_DIST and REP_DIST.
• If REP_OPTION bit 0 is on, the range of the demanded and measured positions
will be between 0 and REP_DIST.
1 The automatic repeat option of the CAMBOX and MOVELINK commands are con-
trolled by bit 1 of the REP_OPTION parameter. The bit is set on to request the sys-
tem software to end the automatic repeat option. When the system software has set
the option off it automatically clears bit 1 of REP_OPTION.
Arguments N/A
Example No example.
See also AXIS, CAMBOX, MOVELINK, REP_DIST.
Type Program control command
Syntax REPEAT
commands
UNTIL condition
Description The REPEAT ... UNTIL structure allows the program segment between the
REPEAT and the UNTIL statement to be repeated a number of times until the
condition becomes TRUE.
Note: REPEAT ... UNTIL construct can be nested indefinitely.
Arguments • commands
Any valid set of BASIC commands
• condition
Any valid BASIC logical expression
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