Omron trajexia CJ1W-MCH72 Operation Manual page 217

All BASIC commands
4-2-165 MSPEED
4-2-166 MTYPE
206
Example WAIT UNTIL MPOS >= 1250
SPEED = 2.5
See also UNITS, AXIS, DEFPOS, ENCODER, FE, OFFPOS, REP_DIST,
REP_OPTION, UNITS.
/i
Type Axis parameter (read-only)
Syntax MSPEED
Description The MSPEED parameter contains the measured speed in units/s. It is
calculated by taking the change in the measured position in user units in
the last servo period and divide it by the servo period (in seconds). The
servo period is set with the SERVO_PERIOD parameter.
MSPEED represents a snapshot of the speed and significant fluctua-
tions, which can occur, particularly at low speeds. It can be worthwhile
to average several readings if a stable value is required at low speeds.
Arguments N/A
Example No example.
See also AXIS, SERVO_PERIOD, VP_SPEED, UNITS.
/i
Type Axis parameter (read-only)
Syntax MTYPE
Description The MTYPE parameter contains the type of move currently being exe-
cuted. The possible values are given in the table below.
/i
Move number
0
1
2
3
4
5
10
11
12
13
14
15
20
21
22
Move type
IDLE (no move)
MOVE
MOVEABS
MHELICAL
MOVECIRC
MOVEMODIFY
FORWARD
REVERSE
DATUM
CAM
JOG_FORWARD refer to FWD_JOG
JOG_REVERSE refer to REV_JOG
CAMBOX
CONNECT
MOVELINK
Section 4-2