Omron TJ2-MC64 - PROGRAMMING Programming Manual page 192

BASIC commands
Arguments • control
Set on or off to control SCOPE execution. If turned on the SCOPE is
ready to run as soon as the TRIGGER command is executed.
• period
The number of servo periods between data samples.
• table_start
The address of the first element in the TABLE array to start storing data.
• table_stop
The address of the last element in the TABLE array to be used.
• P0
First parameter to store.
• P1
Optional second parameter to store.
• P2
Optional third parameter to store.
• P3
Optional fourth parameter to store.
Example SCOPE(ON,10,0,1000,MPOS AXIS(1),DPOS AXIS(1))
This example programs the SCOPE function to store the MPOS parameter
for axis 1 and the DPOS parameter for axis 1 every 10 servo cycles. The
MPOS parameter will be stored in TABLE locations 0 to 499; the DPOS
parameters, in TABLE locations 500 to 999. The SCOPE function will wrap
and start storing at the beginning again unless stopped. Sampling will not
start until the TRIGGER command is executed.
Example SCOPE(OFF)
This above line turns the scope function off.
See also SCOPE_POS, TABLE, TRIGGER.
3.2.261 SCOPE_POS
/i
Type System parameter (read-only)
Syntax SCOPE_POS
Description The SCOPE_POS parameter contains the current TABLE position at which
the SCOPE command is currently storing its parameters.
Arguments N/A
PROGRAMMING MANUAL
Example No example.
See also SCOPE.
3.2.262 SELECT
/i
Type Program command
Syntax SELECT "program_name"
Description The SELECT command specifies the current program for editing, running, list-
ing, etc. SELECT makes a new program if a program with the name entered
does not exist. The program name can also be specified without quotes.
When a program is selected, the commands COMPILE, DEL, LIST, NEW,
RUN, STEPLINE, STOP and TROFF will apply to the currently selected pro-
gram unless a program name is specified in the command line. When another
program is selected, the previously selected program will be compiled. The
selected program cannot be changed when a program is running.
Note: This command is implemented for a Command Line Terminal. Trajexia
Studio automatically selects programs when you click on their entry in the list
in the control panel.
Arguments N/A
Example >> SELECT "PROGRAM"
PROGRAM selected
>> RUN
See also COMPILE, DEL, LIST, NEW, RUN, STEPLINE, STOP, TROFF.
3.2.263 SERVO
/i
Type Axis parameter
Syntax SERVO
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