Omron trajexia CJ1W-MCH72 Operation Manual page 254

All BASIC commands
4-2-215 RUNTYPE
4-2-216 S_REF
/i
Type Program command
Syntax RUNTYPE "program_name", auto_run [ , task_number ]
Description The RUNTYPE command determines whether the program, specified
by program_name, is run automatically at start-up or not and which
task it is to run on. The task number is optional, if omitted the program
will run at the highest available task.
The current RUNTYPE status of each programs is displayed when a
DIR command is executed. If any program has compilation errors no
programs will be started at power up. To set the RUNTYPE using Tra-
jexia Studio, set the Priority property of the program.
Arguments • program_name
The name of the program whose RUNTYPE is being set.
• auto_run
0 = Running manually on command; 1 = Automatically execute on
power up. All non-zero values are considered as 1.
• task_number
The number of the task on which to execute the program. Range: [1,
14].
Example >> RUNTYPE progname,1,3
This line sets the program progname to run automatically at start-up on
task 3.
Example >> RUNTYPE progname,0
This line sets the program progname to manual running.
See also AUTORUN, EPROM, EX.
/i
Type Axis parameter
Syntax S_REF
Description This parameter contains the speed reference value which is applied
directly to the Servo Driver when the axis is in open loop
(SERVO=OFF). The range of this parameter is defined by the number
of available bits. For MECHATROLINK-II axes, S_REF takes 32 bits, so
the available range is [-2147483648, 2147483648]. This range can be
limited by using the OUTLIMIT parameter.
The value currently being applied to the driver can be read using the
S_REF_OUT axis parameter.
Arguments N/A
Example WDOG = ON
SERVO = OFF
square:
S_REF AXIS(0) = 2000
WA(250)
S_REF AXIS(0) = -2000
WA(250)
GOTO square
These lines can be used to force a square wave of positive and nega-
tive movement with a period of approximately 500ms on axis 0.
Section 4-2
243