Omron TJ1-MC04, Руководство по программированию

Страница: 123 / 312

BASIC commands
PROGRAMMING MANUAL 123
Revi
si
on 3.0
3.2.206 POS_OFFSET
/i
3.2.207 POWER_UP
/i
3.2.208 PRINT
/i
Type System parameter
Syntax POS_OFFSET=value
Description For Piezo Operation. This keyword allows a positive offset to be applied to the
output
DAC signal from the servo loop. The offset is applied after the
DAC_SCALE function. An offset of 327 will represent an offset of 0.1 volts. It
is suggested that as offset of 65% to 70% of the value required to make the
stage move in an open loop situation is used.
Arguments N/A
Example No example.
See also N/A
Type System parameter
Syntax POWER_UP
Description This parameter is used to determine whether or not programs should be read
from flash EPROM on power up or software reset (
EX ).
Two values are possible: 0: Use the programs in battery backed RAM; 1:
Copy programs from the controllers flash EPROM into RAM.
Programs are individually selected to be run at power up with the
RUNTYPE
command
Notes:
•
POWER_UP is always an immediate command and therefore cannot be
included in programs.
• This value is normally set by Trajexia Tools.
Arguments N/A
Example No example.
See also EPROM
Type I/O command
Syntax PRINT [ #n, ] expression { , expression}
? [ #n, ] expression { , expression }
Description The PRINT command outputs a series of characters to the serial ports. PRINT
can output parameters, fixed ASCII strings, and single ASCII characters. By
using
PRINT #n , any port can be selected to output the information to.
Multiple items to be printed can be put on the same line separated by a
comma or a semi-colon. A comma separator in the print command places a
tab between the printed items. The semi-colon separator prints the next item
without any spaces between printed items.
The width of the field in which a number is printed can be set with the use of
[w,x] after the number to be printed. The width of the column is given by w and
the number of decimal places is given by x. Using only one parameter [x]
takes the default width and specifies the number of decimal places to be
printed. The numbers are right aligned in the field with any unused leading
characters being filled with spaces. If the number is too long, then the field will
be filled with asterisks to signify that there was not sufficient space to display
the number. The maximum field width allowable is 127 characters.
The backslash
\ command can be used to print a single ASCII character.
Arguments • n
The specified output device. When this argument is omitted, the port as
specified by
OUTDEVICE will be used. See the table below.
• expression
The expression to be printed.
Example PRINT "CAPITALS and lower case CAN BE PRINTED"
Example Consider VR(1) = 6 and variab = 1.5, the print output will be as follows:
PRINT 123.45,VR(1)-variab
123.4500 4.5000
Example length:
PRINT "DISTANCE = ";mpos
DISTANCE = 123.0000
In this example, the semi-colon separator is used. This does not tab into the
next column, allowing the programmer more freedom in where the print items
are placed.
I52E-EN-03.book Seite 123 Freitag, 29. Juni 2007 11:55 11