Omron SYSMAC CJ Series, Operation Manual

Page: 217 / 371

All BASIC commands Section 4-2
205
4-2-162 MSPEED
/i
4-2-163 MTYPE
/i
/i
Example WAIT UNTIL MPOS >= 1250
SPEED = 2.5
See also UNITS , AXIS , DEFPOS , ENCODER , FE , OFFPOS , REP_DIST ,
REP_OPTION , UNITS .
Type Axis parameter (read-only)
Syntax MSPEED
Description The MSPEED parameter contains the measured speed in units/s. It is
calculated by taking the change in the measured position in user units in
the last servo period and divide it by the servo period (in seconds). The
servo period is set with the
SERVO_PERIOD parameter.
MSPEED represents a snapshot of the speed and significant fluctua-
tions, which can occur, particularly at low speeds. It can be worthwhile
to average several readings if a stable value is required at low speeds.
Arguments N/A
Example No example.
See also AXIS , SERVO_PERIOD , VP_SPEED , UNITS .
Type Axis parameter (read-only)
Syntax MTYPE
Description The MTYPE parameter contains the type of move currently being exe-
cuted. The possible values are given in the table below.
Move number Move type
0 IDLE (no move)
1 MOVE
2 MOVEABS
3 MHELICAL
4 MOVECIRC
5 MOVEMODIFY
10 FORWARD
11 REVERSE
12 DATUM
13 CAM
14 JOG_FORWARD refer to FWD_JOG
15 JOG_REVERSE refer to REV_JOG
20 CAMBOX
21 CONNECT
22 MOVELINK