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All BASIC commands
Section 4-2
242
4-2-211 RUNTYPE
/i
4-2-212 S_REF
/i
Type
Program command
Syntax
RUNTYPE "program_name", auto_run [ , task_number ]
Description
The
RUNTYPE
command determines whether the program, specified
by
program_name
, is run automatically at start-up or not and which
task it is to run on. The task number is optional, if omitted the program
will run at the highest available task.
The current
RUNTYPE
status of each programs is displayed when a
DIR
command is executed. If any program has compilation errors no
programs will be started at power up. To set the
RUNTYPE
using Tra-
jexia Studio, set the
Priority
property of the program.
Arguments
•
program_name
The name of the program whose
RUNTYPE
is being set.
•
auto_run
0 = Running manually on command; 1 = Automatically execute on
power up. All non-zero values are considered as 1.
•
task_number
The number of the task on which to execute the program. Range: [1,
14].
Example
>> RUNTYPE progname,1,3
This line sets the program
progname
to run automatically at start-up on
task 3.
Example
>> RUNTYPE progname,0
This line sets the program
progname
to manual running.
See also
AUTORUN
,
EPROM
,
EX
.
Type
Axis parameter
Syntax
S_REF
Description
This parameter contains the speed reference value which is applied
directly to the Servo Driver when the axis is in open loop
(
SERVO=OFF
). The range of this parameter is defined by the number
of available bits. For MECHATROLINK-II axes,
S_REF
takes 32 bits, so
the available range is [-2147483648, 2147483648]. This range can be
limited by using the
OUTLIMIT
parameter.
The value currently being applied to the driver can be read using the
S_REF_OUT
axis parameter.
Arguments
N/A
Example
WDOG = ON
SERVO = OFF
square:
S_REF AXIS(0) = 2000
WA(250)
S_REF AXIS(0) = -2000
WA(250)
GOTO square
These lines can be used to force a square wave of positive and nega-
tive movement with a period of approximately 500ms on axis 0.
Содержание SYSMAC CJ Series
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