Free; Fslimit; Fwd_In - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

BASIC commands

3.2.129 FREE

/i
Type System function
Syntax FREE
Description The FREE function returns the remaining amount of memory available for
user programs and TABLE array elements.
Note: Each line takes a minimum of 4 characters (bytes) in memory. This is for
the length of this line, the length of the previous line, number of spaces at the
beginning of the line and a single command token. Additional commands
need one byte per token; most other data is held as ASCII.
The TJ1-MC__ compiles programs before they are executed, this means that
twice the memory is required to be able to execute a program.
Arguments N/A
Example >> PRINT FREE
47104.0000
See also N/A
3.2.130 FS_LIMIT
/i
Type Axis parameter
Syntax FS_LIMIT

FSLIMIT

Description The FS_LIMIT axis parameter contains the absolute position of the forward
software limit in user units.
A software limit for forward movement can be set from the program to control
the working range of the machine. When the limit is reached, the TJ1-MC__
will decelerate to 0, and then cancel the move. Bit 9 of the AXISSTATUS axis
parameter will be turned on while the axis position is greater than FS_LIMIT.
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, UNITS.
PROGRAMMING MANUAL

3.2.131 FWD_IN

/i
Type Axis parameter
Syntax FWD_IN
Description The FWD_IN axis parameter contains the input number to be used
as a forward limit input. The valid input range is 0 to 31. Values 0 to
15 represent physically present inputs of TJ1-MC__ I/O connector
and are common for all axes. Values 16 to 27 represent software
inputs which can be freely used in programs and commands such
as IN and OP. These are also common for all axes. Values 28 to 31
are directly mapped to driver inputs present on CN1 connector, and
they are unique for each axis. Which driver inputs are mapped to
inputs 28 to 31 depends on Servo Driver parameter Pn81E setting.
Recommended setting is Pn81E = 0x4321, with the following map-
ping:
If an input number is set and the limit is reached, any forward
motion on that axis will be stopped. Bit 4 of the AXISSTATUS will
also be set.
Note: This input is active low.
Sigma II • input 28: CN1-40
• input 29: CN1-41
• input 30: CN1-42
• input 31: CN1-43
Sigma III • input 28: CN1-13
• input 29: CN1-7
• input 30: CN1-8
• input 31: CN1-9
Junma • input 26: CN1-2
• input 27: CN1-1
For more information on setting driver parameter Pn81E, see
Servo Driver manual. As default the parameter is set to -1, no
inputs selected.
Arguments N/A
Example No example.
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