Omron TJ2-MC64 - PROGRAMMING - Page 196

BASIC commands
PROGRAMMING MANUAL 190
Revision 1.0
3.2.273 SQR
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3.2.274 SRAMP
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3.2.275 START_DIR_LAST
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3.2.276 STEP
See FOR..TO..STEP..NEXT.
3.2.277 STEP_RATIO
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Type Mathematical function
Syntax SQR(expression)
Description The SQR function returns the square root of the expression. The expression
must have positive (including 0) value.
Arguments • expression
Any valid BASIC expression.
Example >> PRINT SQR(4)
2.0000
See also N/A
Type Axis parameter
Syntax SRAMP
Description The SRAMP parameter contains the S-curve factor. The S-curve factor con-
trols the amount of rounding applied to the trapezoidal profiles. A value of 0
sets no rounding. A value of 10 sets maximum rounding. The default value of
the parameter is 0.
SRAMP is applied to the FORWARD, MOVE, MOVEABS, MOVECIRC,
MHELICAL and REVERSE commands.
Notes:
• Using S-curves increases the time required for the movement to com-
plete.
• The S-curve factor must not be changed while a move is in progress.
Arguments N/A
Example No example.
See also AXIS.
Type Axis parameter (read only)
Syntax START_DIR_LAST
Description Allows the program to examine the start direction in radians of the last pro-
grammed MOVESP/MOVEABSSP/MOVECIRCSP move of 2 or more axes.
Arguments N/A
Example >>MOVESP(10000,10000)
>>? START_DIR_LAST
0.7854
>>MOVESP(0,10000)
>>? START_DIR_LAST
0.0000
See also MOVESP.
Type Axis command
Syntax STEP_RATIO(output_count, dpos_count)