Task Commands And Parameters - Omron R88A-MCW151-DRT-E Operation Manual

Command Reference List

6-2-10 Task Commands and Parameters

Name
REG_POS REG_POS contains the position at which a registration event
occurred.
REMAIN REMAIN is the distance remaining to the end of the current
move.
REP_DIST REP_DIST contains sets the repeat distance.
REP_OPTION REP_OPTION controls the application of the REP_DIST axis
parameter.
REV_IN REV_IN contains the input number to be used as a reverse
limit input.
REV_JOG REV_JOG contains the input number to be used as a jog
reverse input.
RS_LIMIT RS_LIMIT contains the absolute position of the reverse soft-
ware limit.
S_RATE S_RATE contains the speed reference rate for the attached
Servomotor.
S_REF S_REF contains the speed reference value which is applied
when the axis is in open loop.
S_REF_OUT S_REF_OUT contains the speed reference value being
applied to the Servo Driver for both open as closed loop.
SERVO SERVO determines whether the axis runs under servo control
or open loop.
SPEED SPEED contains the demand speed in units/s.
SRAMP SRAMP contains the S-curve factor.
T_RATE T_RATE contains the torque reference rate for the attached
Servomotor.
T_REF T_REF contains the torque reference value which is applied
to the Servomotor.
UNITS UNITS contains the unit conversion factor.
VFF_GAIN VFF_GAIN contains the speed feed forward control gain.
VP_SPEED VP_SPEED contains the speed profile speed.
The table below outlines the task commands and parameters. Refer to the
specified pages for details.
Name
ERROR_LINE ERROR_LINE contains the number of the line which caused
the last BASIC program error.
PMOVE PMOVE contains the status of the task buffers.
PROC PROC allows a process parameter from a particular process
to be accessed.
PROC_LINE PROC_LINE returns the current line number of the specified
program task.
PROC_STATUS PROC_STATUS returns the status of the process specified.
PROCNUMBER PROCNUMBER contains the number of the task in which the
currently selected program is running.
RUN_ERROR RUN_ERROR contains the number of the last BASIC error
that occurred on the specified task.
TICKS TICKS contains the current count of the task clock pulses.
Description
Description
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