Omron trajexia CJ1W-MCH72, Operation Manual

Page: 220 / 374

All BASIC commands Section 4-2
209
4-2-173 OFFPOS
/i
Type Axis parameter
Syntax OFFPOS
Description The OFFPOS parameter contains an offset that will be applied to the
demand position ( DPOS ) without affecting the move which is in
progress in any other way. The measured position will be changed
accordingly in order to keep the Following Error. OFFPOS can therefore
be used to effectively datum a system at full speed. The value set in
OFFPOS will be reset to 0 by the system as the offset is loaded.
Note: The offset is applied on the next servo period. Other commands
may be executed prior to the next servo period. Be sure that these com-
mands do not assume the position shift has occurred. This can be done
by using the
WAIT UNTIL statement (see example).
Arguments N/A
Example Change the current position by 125, with the Command Line Terminal:
>>?DPOS
300.0000
>>OFFPOS=125
>>?DPOS
425.0000
Example Define the current demand position as 0
OFFPOS=-DPOS
WAIT UNTIL OFFPOS=0 ' wait until applied
This is equivalent to DEFPOS(0) .