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Command, function and parameter description
Section 6-3
The default value is set to a high value (1000000) in order to ensure compat-
ibility with previous MC Units (MC402-E).
Note The operation using CLUTCH_RATE is not deterministic in position. If
required, use the MOVELINK command instead to avoid unnecessary phase
difference between master and slave.
See also:
AXIS, CONNECT, MOVELINK
Example:
CLUTCH_RATE = 4
This setting will imply that when giving CONNECT(4,1), it will take one second
to reach the full connection.
6-3-40
COMMSERROR
Type:
System Parameter
Description:
The COMMSERROR parameter contains the serial communication errors
that have occurred since the last time that it was initialized.
The bits in COMMSERROR are defined as follows:
Bit
Description
0
Overrun error port 0
1
Parity error port 0
2
Framing error port 0
3
Break interrupt port 0
4
Overrun error port 1
5
Parity error port 1
6
Framing error port 1
7
Break interrupt port 1
8
Overrun error port 2
9
Parity error port 2
10
Framing error port 2
11
Break interrupt port 2
This parameter is read-only.
6-3-41
COMPILE
Type:
Program Command
Syntax:
COMPILE
Description:
The COMPILE command forces the compilation the current program to inter-
mediate code. Program are compiled automatically by the system software
prior to program execution or when another program is selected.
6-3-42
CONNECT
Type:
Motion Control Command
Syntax:
CONNECT(
ratio, driving_axis
)
Alternative:
CO(
ratio, driving_axis
)
Description:
The CONNECT command connects the demand position of the base axis to
the measured movements of the axis specified by driving_axis to achieve an
electronic gearbox.
The ratio can be changed at any time by executing another CONNECT com-
mand on the same axis. To change the driving axis the CONNECT command
needs to be cancelled first. CONNECT with different driving axis will be
ignored. The CONNECT command can be cancelled with a CANCEL or RAP-
IDSTOP command. The CLUTCH_RATE axis parameter can be used to set a
specified connection change rate.