Omron trajexia CJ1W-MCH72 Operation Manual page 132

All BASIC commands
4-2-53 COMPILE
4-2-54 CONNECT
/i
Type Program command
Syntax COMPILE
Description The COMPILE command forces the compilation of the currently
selected program to intermediate code. Program are compiled automat-
ically by the system software prior to program execution or when
another program is selected. This command is not therefore normally
required.
Arguments N/A
Example No example.
See also N/A
/i
Type Axis command
Syntax CONNECT(ratio, driving_axis)
CO(ratio, driving_axis)
Description The CONNECT command connects the demand position of the base
axis to the measured movements of the axis specified by driving_axis
to achieve an electronic gearbox.
The ratio can be changed at any time by executing another CONNECT
command on the same axis. To change the driving axis the CONNECT
command needs to be cancelled first. CONNECT with different driving
axis will be ignored. The CONNECT command can be cancelled with a
CANCEL or RAPIDSTOP command. The CLUTCH_RATE axis param-
eter can be used to set a specified connection change rate.
CONNECT works on the default basis axis (set with BASE) unless
AXIS is used to specify a temporary base axis.
CONNECT (1,1)
/i
Arguments • ratio
The connection ratio of the gearbox. The ratio is specified as the
encoder edge ratio (not units). It holds the number of edges the base
axis is required to move per edge increment of the driving axis. The
ratio value can be either positive or negative and has sixteen bit
fractional resolution.
• driving_axis
The Master axis which will drive the base axis.
Note: To achieve an exact connection of fractional ratio's of values
such as 1024/3072 the MOVELINK command can be used with the
continuous repeat link option set to ON.
CONNECT (2,1) CONNECT (0.5,1)
Section 4-2
121