Omron SYSMAC CJ Series, Operation Manual

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All BASIC commands Section 4-2
103
4-2-39 BASE
/i
Type Axis command
Syntax BASE
BASE(axis_1 [ ,axis_2 [ , axis_3 [ , axis_4 [ , axis_...]]]])
BA
BA(axis_1 [ ,axis_2 [ , axis_3 [ , axis_4 [ , axis_...]]]])
Description The BASE command is used to set the default base axis or to set a
specified axis sequence group. All subsequent motion commands and
axis parameters will apply to the base axis or the specified axis group
unless the
AXIS command is used to specify a temporary base axis.
The base axis or axis group is effective until it is changed again with
BASE .
Each BASIC process can have its own axis group and each program
can set its own axis group independently. Use the
PROC modifier to
access the parameters for a certain task.
The
BASE order grouping can be set by explicitly assigning the order of
axes. This order is used for interpolation purposes in multi-axes linear
and circular moves. The default for the base axis group is (0,1,2,..31) at
start-up or when a program starts running on a task. The
BASE com-
mand without any arguments returns the current base order grouping.
This should be used
Note: If the BASE command does not specify all the axes, the BASE
command will “fill in” the remaining values automatically. Firstly it will fill
in any remaining axes above the last declared value, then it will fill in
any remaining axes in sequence.
So
BASE(2,6,10) sets the internal array of 32 axes to:
2,6,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,
31,0,1,3,4,5,7,8,9.
Note: The BASE command without any arguments should only be used
on the Command Line Terminal.
Arguments The command can take up to 32 arguments.
•
axis_i
The number of the axis set as the base axis and any subsequent
axes in the group order for multi-axis moves.
Example BASE(1)
UNITS = 2000 ' Set unit conversion factor for axis 1
SPEED = 100 ' Set speed for axis 1
ACCEL = 5000 ' Set acceleration rate for axis 1
BASE(2)
UNITS = 2000 ' Set unit conversion factor for axis 2
SPEED = 125 ' Set speed for axis 2
ACCEL = 10000 ' Set acceleration rate for axis 2
It is possible to program each axis with its own speed, acceleration and
other parameters.
Example BASE(0)
MOVE(100,-23.1,1250)
In this example, axes 0, 1 and 2 will move to the specified positions at
the speed and acceleration set for axis 0.
BASE(0) sets the base axis to
axis 0, which determines the three axes used by MOVE and the speed
and acceleration rate.