Omron SYSMAC CJ Series, Operation Manual

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All BASIC commands Section 4-2
123
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4-2-55 CONSTANT
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Example Axis 0 is required to run a continuous forward. Axis 1 must connect to
axis 0. If
CONNECT is called, it results in a step change. Therefore,
CLUTCH_RATE is used, together with an initial and final connect ratio
of zero, to get the required motion.
FORWARD AXIS(0)
BASE(1)
CONNECT(0,0) 'set intitial ratio to zero
CLUTCH_RATE=0.5 'set clutch rate
CONNECT(2,0) 'apply the required connect ratio
WA(8000)
CONNECT(0,0) 'apply zero ratio to disconnect
WA(4000) 'wait for deceleration to complete
CANCEL 'cancel connect
See also AXIS , CANCEL , CLUTCH_RATE , CONNECT , RAPIDSTOP .
Type System command
Syntax CONSTANT "name", value
Description Declares the name as a constant for use both within the program con-
taining the
CONSTANT definition and all other programs in the Trajexia
Studio solution.
Note: The program containing the CONSTANT definition must be run
before the name is used in other programs. In addition, only that pro-
gram should be running at the time the
CONSTANT is executed, other-
wise the program error will appear and the program will stop when trying
to execute this command. For fast startup the program should also be
the only process running at power-up.
Using
CONSTANT with only the name will erase the specified constant.
Using CONSTANT with no parameters will erase all CONSTANT decla-
rations. This also happens when the CJ1W-MCH72 is reset by switch-
ing the power off and back on, or by executing the
EX command.
A maximum of 128 CONSTANT s can be declared.