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All BASIC commands
Section 4-2
165
4-2-117 FRAME
/i
4-2-118 FREE
/i
Type
System parameter
Syntax
FRAME=value
Description
Used to specify which frame to operate within when employing frame
transformations. Frame transformations are used to allow movements
to be specified in a multi-axis coordinate frame of reference which do
not correspond one-to-one with the axes. An example is a SCARA robot
arm with jointed axes. For the end tip of the robot arm to perform
straight line movements in X-Y the motors need to move in a pattern
determined by the robots geometry.
Frame transformations to perform functions such as these need to be
compiled from C language source and loaded into the controller system
software. Contact OMRON if you need to do this.
A machine system can be specified with several different frames. The
currently active “frame” is specified with the
FRAME
System parameter.
The default
FRAME
is 0 which corresponds to a one-to-one transforma-
tion.
Arguments
N/A
Example
FRAME=1
See also
N/A
Type
System function
Syntax
FREE
Description
The
FREE
function returns the remaining amount of memory available
for user programs and TABLE array elements.
Note: Each line takes a minimum of 4 characters (bytes) in memory.
This is for the length of this line, the length of the previous line, number
of spaces at the beginning of the line and a single command token.
Additional commands need one byte per token; most other data is held
as ASCII.
The CJ1W-MCH72 compiles programs before they are executed, this
means that a little under twice the memory is required to be able to exe-
cute a program.
Arguments
N/A
Example
>> PRINT FREE
47104.0000
See also
DIR, TABLE
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