Omron trajexia CJ1W-MCH72, Operation Manual

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All BASIC commands Section 4-2
150
4-2-92 ENCODER_WRITE
/i
4-2-93 ENDIF
See
IF..THEN..ELSE..ENDIF
.
4-2-94 ENDMOVE
/i
Type Axis command
Syntax ENCODER_WRITE(address, value)
Description The ENCODER_WRITE command is applicable only to Flexible axis
absolute EnDat axis with ATYPE value 47. The command writes to an
encoder parameter specified by the address. Bits 8 -15 of the address
are the EnDat MRS field settings and bits 0 - 7 are the offset within the
EnDat MRS block. If a CRC error occurs, this command will return 0.
Writing to address 0 performs an encoder reset function.For more infor-
mation see EnDat absolute encoder interface specification.In order to
successfully write an encoder parameter with this command, the
ENCODER_CONTROL parameter must be set to 1, encoder parameter
read/write mode.
Arguments • address
Specifies the EnDat MRS field to write to.
• value
Any valid BASIC expression.
Example No example.
See also AXIS , ENCODER , ENCODER_BITS , ENCODER_CONTROL .
Type Axis parameter
Syntax ENDMOVE
Description The ENDMOVE axis parameter holds the position of the end of the cur-
rent move in user units. If the SERVO axis parameter is ON, the
ENDMOVE parameter can be written to produce a step change in the
demand position ( DPOS ).
Note: As the measured position is not changed initially, the Following
Error limit (
FE_LIMIT ) should be considered when writing to ENDMOVE
to produce a step change. If the change of demanded position is too
big, the limit will be exceeded.
Arguments N/A
Example No example.
See also AXIS , DPOS , FE_LIMIT , UNITS .