Omron trajexia CJ1W-MCH72 Operation Manual page 231

All BASIC commands
4-2-192 PROCESS
4-2-193 PROCNUMBER
4-2-194 PSWITCH
220
/i
Type Program command
Syntax PROCESS
Description The PROCESS command displays the running status of all current
tasks with their task number.
Arguments N/A
Example No example.
See also HALT, RUN, STOP.
/i
Type Task parameter (read-only)
Syntax PROCNUMBER
Description The PROCNUMBER parameter contains the number of the task in
which the currently selected program is running. PROCNUMBER is
often required when multiple copies of a program are running on differ-
ent tasks.
Arguments N/A
Example MOVE(length) AXIS(PROCNUMBER)
See also PROC_STATUS, PROC.
/i
Type I/O command
Syntax PSWITCH(switch, enable [ , axis, output_number, output_state,
set_position, reset_position ])
Description The PSWITCH command turns on an output when a predefined position
is reached, and turns off the output when a second position is reached.
The positions are specified as the measured absolute positions.
There are 16 position switches each of which can be assigned to any
axis. Each switch has assigned its own ON and OFF positions and out-
put number.
The command can be used with 2 or all 7 arguments. With only 2 argu-
ments a given switch can be disabled.
PSWITCHes are calculated on each servo cycle and the output result
applied to the hardware. The response time is therefore 1 servo cycle
period approximately.
Note: An output may remain ON if it was ON when the PSWITCH was
disabled. In such cases the OP command can be used to turn off an
output as follows:
PSWITCH(2,OFF)
OP(14,OFF) ' Turn OFF pswitch controlling OP 14
Note: The physical switches that are used with PSWITCH are not fast
hardware switches, so switching is done by software, which can intro-
duce some small delays in operation. Fast hardware switching can be
used only with an axis connected via the Encoder Interface port. Use
the HW_PSWITCH command.
Section 4-2