Omron trajexia CJ1W-MCH72 Operation Manual page 177

All BASIC commands
4-2-119 FRAME
4-2-120 FREE
166
/i
Type System parameter
Syntax FRAME=value
Description Used to specify which frame to operate within when employing frame
transformations. Frame transformations are used to allow movements
to be specified in a multi-axis coordinate frame of reference which do
not correspond one-to-one with the axes. An example is a SCARA robot
arm with jointed axes. For the end tip of the robot arm to perform
straight line movements in X-Y the motors need to move in a pattern
determined by the robots geometry.
Frame transformations to perform functions such as these need to be
compiled from C language source and loaded into the controller system
software. Contact OMRON if you need to do this.
A machine system can be specified with several different frames. The
currently active "frame" is specified with the FRAME System parameter.
The default FRAME is 0 which corresponds to a one-to-one transforma-
tion.
Arguments N/A
Example FRAME=1
See also N/A
/i
Type System function
Syntax FREE
Description The FREE function returns the remaining amount of memory available
for user programs and TABLE array elements.
Note: Each line takes a minimum of 4 characters (bytes) in memory.
This is for the length of this line, the length of the previous line, number
of spaces at the beginning of the line and a single command token.
Additional commands need one byte per token; most other data is held
as ASCII.
The CJ1W-MCH72 compiles programs before they are executed, this
means that a little under twice the memory is required to be able to exe-
cute a program.
Arguments N/A
Example >> PRINT FREE
47104.0000
See also DIR, TABLE
Section 4-2