Copy; Cos; Creep = 10; D_Gain - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

BASIC commands
Arguments N/A
Example No example.
See also N/A

3.2.57 COPY

/i
Type Program command
Syntax COPY program_name new_program_name
Description The COPY command copies an existing program in the controller to a new
program with the specified name. The program name can be specified without
quotes.
Note: This command is implemented for an offline (VT100) terminal. Within
Trajexia Tools users can select the command from the Program menu.
Arguments • program_name
Name of the program to be copied.
• new_program_name
Name to use for the new program.
Example >> COPY "prog" "newprog"
See also DEL, NEW, RENAME.

3.2.58 COS

/i
Type Mathematical function
Syntax COS(expression)
Description The COS function returns the cosine of the expression. Input values are in
radians and may have any value. The result value will be in the range from -1
to 1.
Arguments • expression
Any valid BASIC expression.
Example >> PRINT COS(0)
1.0000
PROGRAMMING MANUAL
See also N/A
3.2.59 CREEP
/i
Type Axis parameter
Syntax CREEP
Description The CREEP axis parameter contains the creep speed for the axis. The creep
speed is used for the slow part of an origin search sequence. CREEP can
have any positive value, including 0.
The creep speed is entered in units with the unit conversion factor UNITS.
For example, if the unit conversion factor is set to the number of encoder
edges/inch, the speed is set in inches.
Arguments N/A
Example BASE(2)

CREEP = 10

SPEED = 500
DATUM(4)
CREEP AXIS(1) = 10
SPEED AXIS(1) = 500
DATUM(4) AXIS(1)
See also AXIS, DATUM, UNITS.

3.2.60 D_GAIN

/i
Type Axis parameter
Syntax D_GAIN
Description The D_GAIN axis parameter contains the derivative gain for the axis. The
derivative output contribution is calculated by multiplying the change in Fol-
lowing Error with D_GAIN. The default value is 0.
Add the derivative gain to a system to produce a smoother response and the
use of a higher proportional gain. High values can cause oscillation.
Note: The servo gain must only be changed when the SERVO is off.
Arguments N/A
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