Omron trajexia CJ1W-MCH72 Operation Manual page 101

All BASIC commands
4-2-19 ACCEL
4-2-20 ACOS
4-2-21 ADD_DAC
90
/i
Type Axis parameter
Syntax ACCEL = expression
Description The ACCEL axis parameter contains the axis acceleration rate. The
rate is set in units/s
ing zero.
Arguments N/A
Example BASE(0)
ACCEL = 100 ' Set acceleration rate
PRINT "Acceleration rate: "; ACCEL; " mm/s/s"
ACCEL AXIS(2) = 100 ' Sets acceleration rate for axis (2)
See also ACCEL, DECEL, UNITS
/i
Type Mathematical function
Syntax ACOS(expression)
Description The ACOS function returns the arc-cosine of the expression. The
expression value must be between -1 and 1. The result in radians is
between 0 and PI. Input values outside the range will return 0.
Arguments • expression
Any valid BASIC expression.
Example >> PRINT ACOS(-1)
3.1416
See also N/A
/i
Type Axis command
Syntax ADD_DAC(axis)
AXIS m
Position loop
+
_
Following
Demanded
error
position
Measured
position
AXIS n
Position loop
+
_
Following
Demanded
error
position
Measured
position
2
. The parameter can have any positive value includ-
DAC
SERVO = OFF
+
SERVO = ON
Speed
command
DAC
SERVO = OFF
SERVO = ON
Speed
command
Section 4-2
ADD_DAC(n) AXIS(m):
Final speed reference in AXIS(n) =
DAC_OUT AXIS(m) + DAC_OU T AXIS(n)
+