Omron trajexia CJ1W-MCH72 Operation Manual page 263

All BASIC commands
4-2-234 SYSTEM_ERROR
4-2-235 T_REF
252
Arguments • program_name
The name of the program to be stopped.
• task_number
The number of the task with the program to be stopped. Range:
[1,14].
Example >> STOP progname
Example The lines from label on will not be executed in this example.
STOP
label:
PRINT var
RETURN
See also HALT, RUN, SELECT.
/i
Type System parameter (read only)
Syntax SYSTEM_ERROR
Description The SYSTEM_ERROR parameter contains system errors that occurred
in the Trajexia system since the last time it was initialized. The bits in the
SYSTEM_ERROR parameter are given in the table below.
/i
Bit
0 BASIC error
1 Battery low error
2 - 17 Reserved for future use
18 MECHATROLINK-II device lost error (Any device in the system)
/i
Arguments N/A.
Example No example.
See also N/A
/i
Type Axis parameter
Syntax T_REF
Description The T_REF parameter contains the torque reference value which will be
applied to the servo motor. The range of this parameter is defined by the
number of available bits. For MECHATROLINK-II axes, T_REF takes 32
bits, so the available range is [-2147483648, 2147483648]. This range
can be limited by using the OUTLIMIT parameter.
The actual torque reference is depending on the servo motor.
Arguments N/A
Example T_REF AXIS(0)=1000
See also AXIS, S_REF.
Description
Section 4-2