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191
Command, function and parameter description
Section 6-3
MOVE(-10,0)
6-3-193 TRUE
Type:
Constant
Description:
The TRUE constant returns the numerical value -1.
Note A constant is read-only.
Example:
test:
t = IN(0) AND IN(2)
IF t = TRUE THEN
PRINT "Inputs are ON"
ENDIF
6-3-194 TSIZE
Type:
System Parameter
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 zero when the Table array is deleted using DEL “TABLE” or
NEW “TABLE” on the command line.
Note This parameter is read-only.
See also:
DEL, NEW, TABLE
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
6-3-195 UNITS
Type:
Axis Parameter
Description:
The UNITS parameter contains the unit conversion factor. The unit conver-
sion 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 a
user unit.
Axis parameters like speed, acceleration, deceleration and the motion control
commands are specified in these user units.
Precautions:
The UNITS parameter can be any non-zero value, but it is recommended 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.
See also:
AXIS, PP_STEP
Example:
A leadscrew 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
6-3-196 VERSION
Type:
System Parameter
Description:
The VERSION parameter returns the current firmware version number of the
current system installed in the MC Unit.