Mpos; Mspeed; Mtype - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

BASIC commands

3.2.182 MPOS

/i
Type Axis parameter (read-only)
Syntax MPOS
Description The MPOS parameter is the measured position of the axis in user units as
derived from the encoder. This parameter can be set using the DEFPOS
command. The OFFPOS axis parameter can also be used to shift the origin
point. MPOS is reset to 0 at start-up.
The range of the measured position is controlled with the REP_DIST and
REP_OPTION axis parameters.
Arguments N/A
Example WAIT UNTIL MPOS >= 1250
SPEED = 2.5
See also UNITS, AXIS, DEFPOS, ENCODER, FE, OFFPOS, REP_DIST,
REP_OPTION, UNITS.

3.2.183 MSPEED

/i
Type Axis parameter (read-only)
Syntax MSPEED
Description The MSPEED parameter contains the measured speed in units/s. It is calcu-
lated by taking the change in the measured position in user units in the last
servo period and divide it by the servo period (in seconds). The servo period is
set with the SERVO_PERIOD parameter.
MSPEED represents a snapshot of the speed and significant fluctuations,
which can occur, particularly at low speeds. It can be worthwhile to average
several readings if a stable value is required at low speeds.
Arguments N/A
Example No example.
See also AXIS, SERVO_PERIOD, VP_SPEED, UNITS.
PROGRAMMING MANUAL

3.2.184 MTYPE

/i
Type Axis parameter (read-only)
Syntax MTYPE
Description The MTYPE parameter contains the type of move currently being executed.
The possible values are given in the table below.
MTYPE can be used to determine whether a move has finished or if a transi-
tion from one move type to another has taken place.
A non-idle move type does not necessarily mean that the axis is actually
moving. It can be at 0 speed part way along a move or interpolating with
another axis without moving itself.
Arguments N/A
Example No example.
See also AXIS, NTYPE.
/i
Move number
0
1
2
3
4
5
10
11
12
13
14
15
20
Move type
IDLE(no move)
MOVE
MOVEABS
MHELICAL
MOVECIRC
MOVEMODIFY
FORWARD
REVERSE
DATUM
CAM
JOG_FORWARD refer to FWD_JOG
JOG_REVERSE refer to REV_JOG
CAMBOX
116