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BASIC commands
PROGRAMMING MANUAL
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3.2.55 CLEAR_PARAMS
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3.2.56 CLOSE_WIN
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3.2.57 CLUTCH_RATE
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3.2.58 COMMSERROR
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Type
System command
Syntax
CLEAR_PARAMS
Description
Clears all variables and parameters stored in Flash-ROM to their default val-
ues. The CLEAR_PARAM will erase (set to 0) all the VR’s stored using
FLASHVR command. This command cannot be performed if the controller is
locked.
Arguments
N/A
Example
No example.
See also
N/A
Type
Axis parameter
Syntax
CLOSE_WIN
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.
Arguments
N/A
Example
CLOSE_WIN
=10
See also
AXIS
,
OPEN_WIN
,
REGIST
,
UNITS
.
Type
Axis parameter
Syntax
CLUTCH_RATE
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.
The default value is set to a high value (1000000) in order to ensure compati-
bility with previous TJ2-MC64 units.
Note: The operation using
CLUTCH_RATE
is not deterministic in position. If
required, use the
MOVELINK
command instead to avoid unnecessary phase
difference between base axis and linked axis.
Arguments
N/A
Example
CLUTCH_RATE = 4
This setting will imply that when giving
CONNECT(4,1)
, it will take one sec-
ond to reach the full connection.
See also
AXIS
,
CONNECT
,
MOVELINK
.
Type
System parameter (read-only)
Syntax
COMMSERROR
Description
The
COMMSERROR
parameter contains the communication errors that
have occurred since the last time that it was initialized.
The bits in
COMMSERROR
are given in the table below.
Bit
Description Error
location
8
Port 1 Rx data ready
Serial port 1
9
Port 1 Rx Overrun
Serial port 1
10
Port 1 Parity Error
Serial port 1
11
Port 1 Rx Frame Error
Serial port 1
12
Port 2 Rx data ready
Serial port 2
13
Port 2 Rx Overrun
Serial port 2
14
Port 2 Parity Error
Serial port 2
15
Port 2 Rx Frame Error
Serial port 2