BASIC commands
PROGRAMMING MANUAL
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3.2.247 REP_OPTION
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3.2.248 REPEAT..UNTIL
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Description
The
REP_DIST
parameter contains the repeat distance, which is the allowa-
ble range of movement for an axis before the demand position (
DPOS
) and
measured position (
MPOS
) are corrected.
REP_DIST
is defined in user units.
The exact range is controlled by
REP_OPTION
. The
REP_DIST
can have
any non-0 positive value.
When the measured position has reached its limit, the TJ2-MC64 will adjust
the absolute positions without affecting the move in progress or the servo
algorithm. Note that the demand position can be outside the range because
the measured position is used to trigger the adjustment. When measured
position reaches REP_DIST, twice that distance is subtracted to ensure that
the axis always stays in the range [-REP_DIST, REP_DIST], assuming that
REP_OPTION=OFF, or in the range [0, REP_OPTION], assuming that
REP_OPTION=ON.
For every occurrence (
DEFPOS
,
OFFPOS
,
MOVEABS
,
MOVEMODIFY
)
which defines a position outside the range, the end position will be redefined
within the range.
The default value for all axes is 5000000.
Arguments
N/A
Example
No example.
See also
AXIS
,
DPOS
,
MPOS
,
REP_OPTION
,
UNITS
.
Type
Axis parameter
Syntax
REP_OPTION
Description
The
REP_OPTION
parameter controls the application of the
REP_DIST
axis parameter and the repeat option of the
CAMBOX
and
MOVELINK
Axis commands. The default value is 0. See the
table below.
Bit
Description
0
The repeated distance range is controlled by bit 0 of the
REP_OPTION
parameter.
•
If
REP_OPTION
bit 0 is off, the range of the demanded and measured positions
will be between
-REP_DIST
and
REP_DIST
.
•
If
REP_OPTION
bit 0 is on, the range of the demanded and measured positions
will be between 0 and
REP_DIST
.
1
The automatic repeat option of the
CAMBOX
and
MOVELINK
commands are con-
trolled by bit 1 of the
REP_OPTION
parameter. The bit is set on to request the sys-
tem software to end the automatic repeat option. When the system software has set
the option off it automatically clears bit 1 of
REP_OPTION
.
Arguments
N/A
Example
No example.
See also
AXIS
,
CAMBOX
,
MOVELINK
,
REP_DIST
.
Type
Program control command
Syntax
REPEAT
commands
UNTIL condition
Description
The
REPEAT ... UNTIL
structure allows the program segment between the
REPEAT
and the
UNTIL
statement to be repeated a number of times until the
condition becomes
TRUE
.
Note:
REPEAT ... UNTIL
construct can be nested indefinitely.
Arguments
•
commands
Any valid set of BASIC commands
•
condition
Any valid BASIC logical expression