Omron trajexia CJ1W-MCH72, Operation Manual

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All BASIC commands Section 4-2
98
4-2-31 ATYPE
/i
/i
/i
4-2-32 AUTORUN
/i
Type Axis parameter
Syntax ATYPE = value
Description The ATYPE axis parameter indicates the axis type for the axis. The
valid values depend on the port the Servo Driver controlling the axis is
connected to. See the table below.
AXIS type ATYPE value
Virtual 0
MECHATROLINK-II Position 40
MECHATROLINK-II Speed 41
MECHATROLINK-II Torque 42
Flexible axis Stepper Out 43
Encoder Interface In 44
Flexible axis Encoder Out 45
Flexible axis Absolute EnDat 47
Flexible axis Absolute SSI 48
MECHATROLINK-II Inverter 49
The ATYPE parameters are set by the system at start-up. For axes con-
trolled by the Servo Drivers connected to the system via MECHATRO-
LINK-II bus, the default
ATYPE value is 40 (MECHATROLINK-II
Position) for all Servo Driver types. For axes controlled by the Servo
Drivers connected to the system via the Encoder Interface, the default
ATYPE value is 44 (Encoder Interface In).
Arguments N/A
Example ATYPE AXIS(1) = 45
This command will set axis 1 as Flexible axis encoder output axis.
See also AXIS
Type Program command
Syntax AUTORUN
Description The AUTORUN command starts all the programs that have been set to
run at start-up.
Note: This command should only be used on the Command Line Termi-
nal.
Arguments N/A
Example No example.
See also RUNTYPE