BASIC commands
PROGRAMMING MANUAL 198
Revision 1.0
3.2.298 TSIZE
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3.2.299 UNITS
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3.2.300 UNLOCK
See LOCK.
3.2.301 UNTIL
See REPEAT..UNTIL.
3.2.302 VECTOR_BUFFERED
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Description The TRUE constant returns the numerical value -1.
Arguments N/A
Example test:
t = IN(0) AND IN(2)
IF t = TRUE THEN
PRINT "Inputs are ON"
ENDIF
See also N/A
Type System parameter (read-only)
Syntax TSIZE
Description The TSIZE parameter returns the size of the TABLE array, which is one more
than the currently highest defined TABLE element.
TSIZE is reset to 0 when the TABLE array is deleted using DEL "TABLE" or
NEW "TABLE" on the command line.
Arguments N/A
Example The following example assumes that no location higher than 1000 has been
written to the TABLE array.
>> TABLE(1000,3400)
>> PRINT TSIZE
1001.0000
See also DEL, NEW, TABLE.
Type Axis parameter
Syntax UNITS
Description The UNITS parameter contains the unit conversion factor. The unit conversion
factor enables the user to define a more convenient user unit like m, mm or
motor revolutions by specifying the amount of encoder edges to include in a
user unit.
Axis parameters like speed, acceleration, deceleration and the Axis com-
mands are specified in these user units.
Note: The UNITS parameter can be any non-zero value, but it is recom-
mended to design systems with an integer number of encoder pulses per user
unit. Changing UNITS will affect all axis parameters which are dependent on
UNITS in order to keep the same dynamics for the system.
Note: The Gear ratio inside the MECHATROLINK servodrives affects the res-
olution of the motor encoder.
Arguments N/A
Example A leads crew arrangement has a 5mm pitch and a 1,000-pulse/rev encoder.
The units must be set to allow moves to be specified in mm.
The 1,000 pulses/rev will generate 1,000 x 4 = 4,000 edges/rev. One rev is
equal to 5mm. Therefore, there are 4,000/5 = 800 edges/mm. UNITS is thus
set as following.
>> UNITS = 1000*4/5
See also AXIS, ENCODER_RATIO.
Type Axis parameter (read only)
Syntax VECTOR_BUFFERED
Description This holds the total vector length of the buffered moves. It is effectively the
amount the system can assume is available for deceleration.
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