Omron SYSMAC CJ Series, Operation Manual

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All BASIC commands Section 4-2
132
4-2-67 DECEL
/i
4-2-68 DEFPOS
/i
Type Axis parameter
Syntax DECEL
Description The DECEL axis parameter contains the axis deceleration rate. The
rate is set in units/s
2
. The parameter can have any positive value includ-
ing 0.
Arguments N/A
Example DECEL = 100 ' Set deceleration rate
PRINT " Deceleration rate is ";DECEL;" mm/s/s"
See also ACCEL , AXIS , UNITS .
Type Axis command
Syntax DEFPOS(pos_1 [ , pos_2 [ , pos_3 [ , pos_4 [, ...]]]])
DP(pos_1 [ , pos_2 [ , pos_3 [ , pos_4 [, ...]]]])
Description The DEFPOS command defines the current demand position ( DPOS )
as a new absolute position. The measured position ( MPOS ) will be
changed accordingly in order to keep the Following Error. DEFPOS is
typically used after an origin search sequence (see DATUM command),
as this sets the current position to 0.
DEFPOS can be used at any time.
As an alternative also the OFFPOS axis parameter can be used. This
parameter can be used to perform a relative adjustment of the current
position.
DEFPOS works on the default basis axis or axis sequence group (set
with BASE ) unless AXIS is used to specify a temporary base axis.
Note: The changes to the axis position made using DEFPOS or OFF-
POS are made on the next servo update. This can potentially cause
problems when a move is initiated in the same servo period as the DEF-
POS or OFFPOS.
The following example shows how the
OFFPOS parameter can be used
to avoid this problem. DEFPOS commands are internally converted into
OFFPOS position offsets, which provides an easy way to avoid the
problem by programming as follows:
DEFPOS(100): WAIT UNTIL OFFPOS = 0: MOVEABS(0)
Arguments The command can take up to 32 arguments.
•
pos_i
The absolute position for (base+i) axis in user units. Refer to the
BASE command for the grouping of the axes.