Omron trajexia CJ1W-MCH72 Operation Manual page 256

All BASIC commands
4-2-219 SCOPE_POS
Arguments • control
Set on or off to control SCOPE execution. If turned on the SCOPE is
ready to run as soon as the TRIGGER command is executed.
• period
The number of servo periods between data samples.
• table_start
The address of the first element in the TABLE array to start storing
data.
• table_stop
The address of the last element in the TABLE array to be used.
• P0
First parameter to store.
• P1
Optional second parameter to store.
• P2
Optional third parameter to store.
• P3
Optional fourth parameter to store.
Example SCOPE(ON,10,0,1000,MPOS AXIS(1),DPOS AXIS(1))
This example programs the SCOPE function to store the MPOS param-
eter for axis 1 and the DPOS parameter for axis 1 every 10 servo
cycles. The MPOS parameter will be stored in TABLE locations 0 to
499; the DPOS parameters, in TABLE locations 500 to 999. The
SCOPE function will wrap and start storing at the beginning again
unless stopped. Sampling will not start until the TRIGGER command is
executed.
Example SCOPE(OFF)
This above line turns the scope function off.
See also SCOPE_POS, TABLE, TRIGGER.
/i
Type System parameter (read-only)
Syntax SCOPE_POS
Description The SCOPE_POS parameter contains the current TABLE position at
which the SCOPE command is currently storing its parameters.
Arguments N/A
Example No example.
See also SCOPE.
Section 4-2
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