![background image](http://html1.mh-extra.com/html/omron/r88a-mcw151-drt-e/r88a-mcw151-drt-e_operation-manual_742243141.webp)
126
Command, function and parameter description
Section 6-3
Examples:
Example 1
FORWARD
WA(10000)
CANCEL
Example 2
MOVE(1000)
MOVEABS(3000)
CANCEL
’Cancel the move to 3000 and move to 4000 instead.
MOVEABS(4000)
Note that the command MOVEMODIFY is a better solution for modifying end-
points of moves in this case.
6-3-35
CHECKSUM
Type:
System Parameter
Description:
The CHECKSUM parameter contains the checksum for the programs in RAM.
At start-up, the checksum is recalculated and compared with the previously
held value. If the checksum is incorrect the program will not run.
Note This parameter is read-only.
6-3-36
CLEAR
Type:
System Command
Syntax:
CLEAR
Description:
The CLEAR command resets all global VR variables to zero and when used
in program will also reset the local variables on the current task to zero.
See also:
RESET, VR
6-3-37
CLEAR_BIT
Type:
System Command
Syntax:
CLEAR_BIT(
bit_number, vr_number
)
Description:
The CLEAR_BIT command resets the specified bit in the specified VR vari-
able to zero. Other bits in the variable will keep their values.
Arguments:
bit_number
The number of the bit to be reset. Range: [0, 23].
vr_number
The number of the VR variable for which the bit will be reset. Range: [0, 250]
See also:
READ_BIT, SET_BIT, VR
6-3-38
CLOSE_WIN
Type:
Axis Parameter
Alternative:
CW
Description:
The CLOSE_WIN axis parameter defines the end of the window inside or out-
side which a registration mark is expected. The value is in user units.
See also:
AXIS, OPEN_WIN, REGIST, UNITS
6-3-39
CLUTCH_RATE
Type:
Axis Parameter
Description:
The CLUTCH_RATE axis parameter defines the change in connection ratio
when using the CONNECT command. The rate is defined as amount of ratio
per second.