Omron SYSMAC CJ Series, Operation Manual

Page: 269 / 371

All BASIC commands Section 4-2
257
4-2-246 UNITS
/i
4-2-247 UNLOCK
See
LOCK
.
4-2-248 UNTIL
See
REPEAT..UNTIL
.
Example The following example assumes that no location higher than 1000 has
been written to the TABLE array.
>> TABLE(1000,3400)
>> PRINT TSIZE
1001.0000
See also DEL , NEW , TABLE .
Type Axis parameter
Syntax UNITS
Description The UNITS parameter contains the unit conversion factor. The unit con-
version factor enables the user to define a more convenient user unit
like m, mm or motor revolutions by specifying the amount of encoder
edges to include in a user unit.
Axis parameters like speed, acceleration, deceleration and the Axis
commands are specified in these user units.
Note: The
UNITS parameter can be any non-zero value, but it is recom-
mended to design systems with an integer number of encoder pulses
per user unit. Changing
UNITS will affect all axis parameters which are
dependent on UNITS in order to keep the same dynamics for the sys-
tem.
Arguments N/A
Example A leads crew arrangement has a 5mm pitch and a 1,000-pulse/rev
encoder. The units must be set to allow moves to be specified in mm.
The 1,000 pulses/rev will generate 1,000 x 4 = 4,000 edges/rev. One rev
is equal to 5mm. Therefore, there are 4,000/5 = 800 edges/mm.
UNITS
is thus set as following.
>> UNITS = 1000*4/5
See also AXIS , ENCODER_RATIO .