Atype; Autorun; Axis - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

BASIC commands
Description The ATAN2 function returns the arc-tangent of the non-zero complex number
(expression2, expression1), which is equivalent to the angle between a
point with coordinate (expression1, expression2) and the x-axis. If
expression2 >= 0, the result is equal to the value of ATAN(expression1 /
expression2). The result in radians will be between -PI and PI.
Arguments • expression1
Any valid BASIC expression.
• expression2
Any valid BASIC expression.
Example >> PRINT ATAN2(0,1)
0.0000
See also N/A

3.2.30 ATYPE

/i
Type Axis parameter
Syntax ATYPE = value
Description The ATYPE axis parameter sets the axis type for the axis. The valid values
depend on TJ1 module the Servo Driver controlling the axis is connected to.
See the table below.The ATYPE parameters are set by the system at start-up.
For axes controlled by the Servo Drivers connected to the system via
MECHATROLINK-II bus, the default ATYPE value is 41 (Mechatro Speed).
For axes controlled by the Servo Drivers connected to the system via the TJ1-
FL02, the default ATYPE value is 44 (Flexible axis Servo).
Arguments N/A
Example ATYPE AXIS(1) = 45
This command will set axis 1 as Flexible axis encoder output axis.
See also

AXIS

/i
AXIS type
Virtual
PROGRAMMING MANUAL
ATYPE value Applicable TJ1 unit
0 All
AXIS type
Mechatro Position
Mechatro Speed
Mechatro Torque
Flexible axis Stepper Out
Flexible axis Servo
Flexible axis Encoder Out
Flexible axis Absolute Tamagawa
Flexible axis Absolute EnDat
Flexible axis Absolute SSI

3.2.31 AUTORUN

/i
Type Program command
Syntax AUTORUN
Description The AUTORUN command starts all the programs that have been set to run at
start-up.
Arguments N/A
Example No example.
See also RUNTYPE
3.2.32 AXIS
/i
Type System command
Syntax AXIS(axis_number)
ATYPE value Applicable TJ1 unit
40 TJ1-ML__ (MECHATRO-
LINK-II Master Unit)
41 TJ1-ML__
42 TJ1-ML__
43 TJ1-FL02
44 TJ1-FL02
45 TJ1-FL02
46 TJ1-FL02
47 TJ1-FL02
48 TJ1-FL02
49