Omron TJ2-MC64 - PROGRAMMING - Page 99

BASIC commands
PROGRAMMING MANUAL 93
Revision 1.0
3.2.111 ENCODER_WRITE
/i
3.2.112 END_DIR_LAST
/i
3.2.113 ENDIF
See IF..THEN..ELSE..ENDIF.
Type Axis command
Syntax ENCODER_WRITE(address, value)
Description The ENCODER_WRITE command is applicable only to Flexible axis absolute
EnDat axis with ATYPE value 47. The command writes to an encoder param-
eter specified by the address. Bits 8 -15 of the address are the EnDat MRS
field settings and bits 0 - 7 are the offset within the EnDat MRS block. If a
CRC error occurs, this command will return 0. Writing to address 0 performs
an encoder reset function.For more information see EnDat absolute encoder
interface specification.In order to successfully write an encoder parameter
with this command, the ENCODER_CONTROL parameter must be set to 1,
encoder parameter read/write mode.
Arguments • address
Specifies the EnDat MRS field to write to.
• value
Any valid BASIC expression.
Example No example.
See also AXIS, ENCODER, ENCODER_BITS, ENCODER_CONTROL.
Type Axis parameter
Syntax END_DIR_LAST
Description Allows the program to examine the end direction in radians of the last pro-
grammed MOVESP/MOVEABSSP/MOVECIRCSP move of 2 or more axes.
END_DIR_LAST will be the same as START_DIR_LAST except in the case
of circular moves. END_DIR_LAST is used by the system to calculate the
change in angle when a new move is loaded. END_DIR_LAST can be written
to. This is often required when initialising a system or after a sequence of
moves which are not MOVESP/MOVEABSSP/MOVECIRCSP moves of 2 or
more axes.
Arguments N/A
Example >>MOVESP(10000,-10000)
>>? END_DIR_LAST
2.3562
See also MOVESP, START_DIR_LAST.