Omron trajexia CJ1W-MCH72 Operation Manual page 271

All BASIC commands
4-2-256 VP_SPEED
4-2-257 VR
260
Example No example.
See also D_GAIN, I_GAIN, OV_GAIN, P_GAIN.
/i
Type Axis parameter (read-only)
Syntax VP_SPEED
Description The VP_SPEED parameter contains the speed profile speed in user
units/s. The speed profile speed is an internal speed which is acceler-
ated and decelerated as the movement is profiled.
Arguments N/A
Example ' Wait until at command speed
MOVE(100)
WAIT UNTIL SPEED = VP_SPEED
See also AXIS, MSPEED, UNITS.
/i
Type System command
Syntax VR(address)
Description The VR command reads or writes the value of a global (VR) variable.
These VR variables hold real numbers and can be easily used as an
element or as an array of elements. The CJ1W-MCH72 has in total
1024 VR variables.
The VR variables can be used for several purposes in BASIC program-
ming. The VR variables are globally shared between tasks and can be
used for communications between tasks. VR variable memory area is
battery backed, so all VR variables retain their values between power
ups
Notes:
• The TABLE and VR data can be accessed from all different running
tasks. To avoid problems of two program tasks writing unexpectedly
to one global variable, write the programs in such a way that only
one program writes to the global variable at a time.
Arguments • address
The address of the VR variable. Range: [0,1023].
Example In the following example, the value 1.2555 is placed into VR variable 15.
The local variable val is used to name the global variable locally:
val = 15
VR(val) = 1.2555
Section 4-2