Omron TJ2-MC64 - PROGRAMMING Programming Manual page 38

BASIC commands
3.2.22 ADDAX
/i
Type Axis command
Syntax ADDAX(axis)
Description The ADDAX command is used to superimpose two or more movements to
build up a more complex movement profile.
The ADDAX command takes the demand position changes from the superim-
posed axis as specified by the axis argument and adds them to any move-
ment running on the axis to which the command is issued. The axis specified
by the parameter can be any axis and does not have to physically exist in the
system.
The ADDAX command therefore allows an axis to perform the moves speci-
fied on two axes added together. When the axis parameter is set to OFF on
an axis with an encoder interface the measured position MPOS is copied into
the demanded position DPOS. This allows ADDAX to be used to sum
encoder inputs.
After the ADDAX command has been issued the link between the two axes
remains until broken. Use ADDAX(-1) to cancel the axis link. ADDAX allows
an axis to perform the moves specified for 2 axes added together. Combina-
tions of more than two axes can be made by applying ADDAX to the superim-
posed axis as well.
ADDAX works on the default basis axis (set with BASE) unless AXIS is used
to specify a temporary base axis.
Note: The ADDAX command sums the movements in encoder edge units.
Arguments • axis
The axis to be set as a superimposed axis. Set the argument to -1 to can-
cel the link and return to normal operation.
PROGRAMMING MANUAL 32