Markb; Merge; Mod; Motion_Error - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description

6-3-112 MARKB

Type:
Description:
See also:

6-3-113 MERGE

Type:
Description:
Precautions:
See also:
Example:

6-3-114 MOD

Type:
Syntax:
Description:
Arguments:
Example:

6-3-115 MOTION_ERROR

Type:
Description:
156
Axis Parameter
The MARKB parameter contains value TRUE when a secondary registration
event has occurred to indicate that the value in the REG_POSB axis parame-
ter is valid. MARKB is set to FALSE when the REGIST command has been
executed and is set to TRUE when the register event occurs.
Note This parameter is read-only.
AXIS, REG_POSB, REGIST
Axis Parameter
The MERGE parameter is a software switch that can be used to enable or dis-
able the merging of consecutive moves. With MERGE is ON and the next
move already in the next move buffer (NTYPE), the axis will not ramp down to
zero speed but will load up the following move enabling a seamless merge.
The default setting of MERGE is OFF.
It is up to the programmer to ensure that merging is sensible. For example,
merging a forward move with a reverse move will cause an attempted instan-
taneous change of direction.
MERGE will only function if the following are all true.
1. Only the speed profiled moves MOVE, MOVEABS, MOVECIRC and
MOVEMODIFY can be merged with each other.
2. There is a move in the next move buffer (NTYPE).
3. The axis group does not change for multi-axis moves.
When merging multi-axis moves, only the base axis MERGE axis parameter
needs to be set.
If the moves are short, a high deceleration rate must be set to avoid the MC
Unit decelerating in anticipation of the end of the buffered move.
AXIS
MERGE = OFF
MERGE = ON
Mathematical Function
expression_1 MOD expression_2
The MOD function returns the expression_2 modulus of expression_1. This
function will take the integer part of any non-integer input.
expression_1
Any valid BASIC expression.
expression_2
Any valid BASIC expression.
>> PRINT 122 MOD 13
5.0000
System Parameter
The MOTION_ERROR parameter contains an error flag for axis motion
errors. The parameter will have value 1 when a motion error has occurred.
'Decelerate at the end of each move
'Moves will be merged if possible
Section 6-3