Omron trajexia CJ1W-MCH72 Operation Manual page 138

All BASIC commands
4-2-64 DATE$
4-2-65 DATUM
/i
Type System command
Syntax DATE$
Description Prints the current date DD/MM/YY as a string to the communication
port. A 2-digit year description is given.
Arguments N/A
Example PRINT, DATE$
This will print the date in format for example: 20/10/05
See also N/A
/i
Type Axis command
Syntax DATUM(sequence)
Description The DATUM command performs one of 6 origin search sequences to
position an axis to an absolute position and also reset the error bits in
AXISSTATUS axis parameter.
DATUM uses both the creep and demand speed for the origin search.
The creep speed in the sequences is set with the CREEP axis parame-
ter and the demand speed is set with the SPEED axis parameter. The
datum switch input number, used for sequences 3 to 6, is set by the
DATUM_IN parameter.
DATUM works on the default basis axis (set with BASE) unless AXIS is
used to specify a temporary base axis.
Note: The origin input set with the DATUM_IN parameter is active low,
i.e., the origin switch is set when the input is OFF. The feedhold, reverse
jog, forward jog, forward and reverse limit inputs are also active low.
Active low inputs are used to enable fail-safe wiring.
Arguments • sequence
See the table below.
/i
sequence
value
0 The DATUM(0) command will clear the motion error. The currently
measured position is set as the demand position (this is especially use-
ful on stepper axes with position verification). DATUM(0) also clears the
Following Error that exceeded the FE_LIMIT condition in the
AXISSTATUS register for ALL axes. It sets these bits in AXXISSTATUS
to zero:
Bit 1 : Following Error Warning.
Bit 2 : Remote Driver Comms Error.
Bit 3 : Remote Driver Error.
Bit 8 : Following Error Limit Exceeded.
Bit 11 : Cancelling Move.
Note that the status can not be cleared if the cause of the problem is still
present. DATUM(0) must only be used after the WDOG is set to OFF,
otherwise there will be unpredictable errors on the motion.
Description
Section 4-2
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