Omron TJ2-MC64 - PROGRAMMING - Page 195

BASIC commands
PROGRAMMING MANUAL 189
Revision 1.0
3.2.269 SLOT
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3.2.270 SPEED
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3.2.271 SPEED_SIGN
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3.2.272 SPHERE_CENTRE
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Type Slot modifier
Syntax SLOT
Description Modifier specifies the unit number for a parameter such as COMMSTYPE.
Trajexia unit numbers are 0 to 6, counting from the left most unit.
Arguments N/A
Example No example.
See also N/A
Type Axis parameter
Syntax SPEED
Description The SPEED parameter contains the demand speed for an axis in units/s. It
can have any positive value (including 0). The demand speed is the maximum
speed for the speed profiled motion commands.
Arguments N/A
Example SPEED = 1000
PRINT "Set speed = ";SPEED
See also ACCEL, AXIS, DATUM, DECEL, FORWARD, MOVE, MOVEABS,
MOVECIRC, MOVEMODIFY, REVERSE, UNITS.
Type Axis parameter
Syntax SPEED_SIGN
Description The SPEED_SIGN parameter configures the voltage range of the analog
speed reference output of the TJ1-FL02 when the axis type ATYPE is set to
44.
If SPEED_SIGN = OFF, the voltage range of the analog speed reference out-
put is [-10V, 10V]. The positive reference voltage corresponds to forward
movements, in which case DPOS and MPOS increment. The negative refer-
ence voltage corresponds to reverse movements, in which case DPOS and
MPOS decrement. OFF is the default setting at power-on.
If SPEED_SIGN = ON, the voltage range of the analog speed reference out-
put is [0V, 10V]. The OUT1 signal of the TJ1-FL02 for the corresponding axis
is used as a direction signal. During forward movements, the controller sets
OUT1 to OFF. During reverse movements, the controller sets OUT1 to ON.
This setting is to be used for Servo Drives that require both speed and direc-
tion signals as a speed reference.
Arguments N/A
Example No example.
See also ATYPE, S_REF, S_REF_OUT.
Type Axis command
Syntax SPHERE_CENTRE(table_x, table_y, table_z)
Description Returns the co-ordinates of the centre point (x, y, z) of the most recent
MSPHERICAL. x, y and z are returned in the TABLE memory area and can
be printed to the terminal as required.
Arguments • table_x, table_y, table_z
TABLE memory locations to store the x, y and z co-ordinates.
Example SPHERE_CENTRE(10, 11, 12)
PRINT TABLE(10);”, “;TABLE(11);”, “;TABLE(12)
See also MSPHERICAL