Omron trajexia CJ1W-MCH72 Operation Manual page 109

All BASIC commands
4-2-31 ATYPE
4-2-32 AUTORUN
98
/i
Type Axis parameter
Syntax ATYPE = value
Description The ATYPE axis parameter indicates the axis type for the axis. The
valid values depend on the port the Servo Driver controlling the axis is
connected to. See the table below.
/i
AXIS type
Virtual
MECHATROLINK-II Position
MECHATROLINK-II Speed
MECHATROLINK-II Torque
Flexible axis Stepper Out
Encoder Interface In
Flexible axis Encoder Out
Flexible axis Absolute EnDat
Flexible axis Absolute SSI
MECHATROLINK-II Inverter
/i
The ATYPE parameters are set by the system at start-up. For axes con-
trolled by the Servo Drivers connected to the system via MECHATRO-
LINK-II bus, the default ATYPE value is 40 (MECHATROLINK-II
Position) for all Servo Driver types. For axes controlled by the Servo
Drivers connected to the system via the Encoder Interface, the default
ATYPE value is 44 (Encoder Interface In).
Arguments N/A
Example ATYPE AXIS(1) = 45
This command will set axis 1 as Flexible axis encoder output axis.
See also AXIS
/i
Type Program command
Syntax AUTORUN
Description The AUTORUN command starts all the programs that have been set to
run at start-up.
Note: This command should only be used on the Command Line Termi-
nal.
Arguments N/A
Example No example.
See also RUNTYPE
Section 4-2
ATYPE value
0
40
41
42
43
44
45
47
48
49