Omron TJ2-MC64 - PROGRAMMING - Page 74

BASIC commands
PROGRAMMING MANUAL 68
Revision 1.0
3.2.65 CORNER_MODE
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fig. 18/i
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Type System parameter
Syntax CORNER_MODE
Description Allows the program to control the cornering action:
Bit 0 - reserved for future use
Bit 1 - Enable use of DECEL_ANGLE and STOP_ANGLE
When enabling this function, the system will proportionaly reduce the speed
when a change in angle of two consecutive moves is between the angles
defined by DECEL_ANGLE and STOP_ANGLE.
Bit 2 - allows RAISE_ANGLE and CORNER_STATE interaction
Bit 3 - allows FULL_SP_RADIUS
It is possible to use combinations of these.
Arguments N/A
Angle
Change
Speed [%]
1 rad0.2 rad 1/4PI=0.78 rad
100
27.5
DECEL_ANGLE=0.2
STOP_ANGLE=1
Example CORNER_MODE=2
In the following example the system will reduce the speed to 27.5% during an
change in angle of PI/4.
Example Bit 2 - allows RAISE_ANGLE and CORNER_STATE interaction
See CORNER_STATE