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BASIC commands
PROGRAMMING MANUAL
33
Revi
si
on 3.0
3
BASIC commands
3.1
Categories
This section lists all BASIC commands divided by categories. The categories
are:
•
Axis commands.
•
Axis parameters.
•
Communication commands and parameters.
•
Constants.
•
I/O commands, functions and parameters.
•
Mathematical functions and operations.
•
Program commands.
•
Program control commands.
•
Slot parameters and modifiers.
•
System commands and functions.
•
System parameters.
•
Task commands and parameters.
The lists are quick reference guides only. A complete description of the
commands is given in alphabetical order in the next section.
3.1.1
Axis commands
/i
Name
Description
ACC
Changes the
ACCEL
and
DECEL
at the same time.
ADD_DAC
Sum to the
DAC
value of one axis to the analogue output of the
base axis.
ADDAX
Sets a link to a superimposed axis. All demand position movements
for the superimposed axis will be added to any moves that are cur-
rently being executed.
B_SPLINE
Expands the profile stored in
TABLE
memory using the B-Spline
mathematical function.
BASE
Used to set the base axis to which the commands and parameters
are applied.
CAM
Moves an axis according to values of a movement profile stored in
the TABLE variable array.
CAMBOX
Moves an axis according to values of a movement profile stored in
the TABLE variable array. The motion is linked to the measured
motion of another axis to form a continuously variable software gear-
box.
CANCEL
Cancels the move on an axis.
CONNECT
Connects the demand position of an axis to the measured move-
ments of the axis specified for
driving_axis
to produce an electronic
gearbox.
DATUM
Performs one of 7 origin search sequences to position an axis to an
absolute position or reset a motion error.
DEFPOS
Defines the current position as a new absolute position.
DISABLE_GROUP
Groups axes together for error disabling.
DRIVE_ALARM
Monitors the current alarm.
DRIVE_CLEAR
Clears the alarm status of the Servo Driver.
DRIVE_READ
Reads the specified parameter of the Servo Driver.
DRIVE_RESET
Resets the Servo Driver.
DRIVE_WRITE
Writes a specific value to the specified parameter of the Servo
Driver.
ENCODER_READ
Reads a parameter of the EnDat absolute encoder.
ENCODER_WRITE
Writes to a parameter of the EnDat absolute encoder.
FORWARD
Moves an axis continuously forward at the speed set in the
SPEED
parameter.
HW_PSWITCH
Sets on and off the hardware switch on output 0 of the TJ1-FL02
when predefined positions are reached.
MECHATROLINK
Initializes MECHATROLINK-II bus and performs various operations
on MECHATROLINK-II stations connected to the bus.
Name
Description
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