Omron trajexia CJ1W-MCH72 Operation Manual page 243

All BASIC commands
4-2-201 REMAIN
4-2-202 REMOTE_ERROR
232
/i
Type Axis parameter (read-only)
Syntax REMAIN
Description The REMAIN parameter contains the distance remaining to the end of
the current move. It can be checked to see how much of the move has
been completed.
The units in which REMAIN is expressed depends on the type of the
motion command:
• If a master axis is moved by MOVELINK or CAMBOX, REMAIN is
expressed in user units set by UNITS.
• If a slave axis is moved by MOVELINK or CAMBOX, REMAIN is
expressed in encoder counts.
• If a master or a slave axis is moved by a motion command that is not
MOVELINK or CAMBOX, REMAIN is expressed in user units set by
UNITS.
The CONNECT command moves an axis without a defined end. For
this command, REMAIN has the fixed value of 1000.
Arguments N/A
Example To change the speed to a slower value 5mm from the end of a move.
start:
SPEED = 10
MOVE(45)
WAIT UNTIL REMAIN < 5
SPEED = 1
WAIT IDLE
See also AXIS, UNITS
/i
Type Axis parameter
Syntax REMOTE_ERROR
Description Returns the number of errors on the MECHATROLINK-II communica-
tion link of a driver.
Arguments N/A
Example >>PRINT REMOTE_ERROR
1.0000
See also N/A
Section 4-2