Omron TJ2-MC64 - PROGRAMMING - Page 193

BASIC commands
PROGRAMMING MANUAL 187
Revision 1.0
3.2.264 SERVO_PERIOD
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3.2.265 SET_BIT
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3.2.266 SETCOM
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Description The SERVO parameter determines whether the base axis runs under servo
closed loop control (SERVO=ON) or open loop (SERVO=OFF). In closed
loop, the motion control algorithm will output a speed reference signal deter-
mined by the control gain settings and the Following Error. The position of the
servo motor is determined using the Axis commands.
In open loop, the speed reference signal is determined by the S_REF axis
parameter (not for ATYPE=40).
Arguments N/A
Example SERVO AXIS(0) = ON ' Axis 0 is under servo control
SERVO AXIS(1) = OFF ' Axis 1 is run open loop
See also AXIS, FE_LIMIT, S_REF, S_REF_OUT, WDOG.
Type System parameter
Syntax SERVO_PERIOD
Description The SERVO_PERIOD parameter sets the servo cycle period of the TJ2-
MC64. The timing of the execution of the program tasks and the refreshing of
the control data and I/O of the Unit are all depending on this setting. The
parameter is defined in microseconds. The TJ2-MC64 can be set in either 0.5,
1.0 or 2.0ms servo cycle. See the table below. The controller must be reset
before the new servo period will be applied.
Value Description
250 0.25ms
500 0.5ms
1000 1.0ms
2000 2.0ms
Arguments N/A
Example No example.
See also EX.
Caution
When the parameter has been set, a power down or software reset
(using EX) must be performed for the complete system. Not doing
so may result in undefined behaviour.
Type System command
Syntax SET_BIT(bit_number, vr_number)
Description The SET_BIT command sets the specified bit in the specified VR variable to
one. Other bits in the variable will keep their values.
Arguments • bit_number
The number of the bit to be set. Range: [0,52].
• vr_number
The number of the VR variable for which the bit is set. Range: [0,63999].
Example No example.
See also CLEAR_BIT, READ_BIT, VR.
Type Communication command
Syntax SETCOM(baud_rate, data_bits, stop_bits, parity, port_number, mode [,
data_config [,comms_timeout]])
Description The SETCOM command sets the serial communications for the serial ports.
The command will enable the Host Link and ModbusRTU protocols or define
the general-purpose communication.
The serial ports have 9,600 baud rate, 7 data bits, 2 stop bits, even parity and
XON/XOFF enabled for general-purpose communication by default. These
default settings are recovered at start-up.