Rep_Option; Repeat Until - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description
See also:

6-3-157 REP_OPTION

Type:
Description:
See also:

6-3-158 REPEAT UNTIL

Type:
Syntax:
Description:
Precautions:
Arguments:
See also:
Example:
178
rithm. Not that the demand position can be outside the range because the
measured position is used to trigger the adjustment.
For every occurrence (DEFPOS, OFFPOS, MOVEABS, MOVEMODIFY)
which defines a position outside the range, the end position will be redefined
within the range.
The default value for axis 0, 1 and 2 are respectively 2147483648, 5000000
and 5000000.
AXIS, DPOS, MPOS, REP_OPTION, UNITS
Axis Parameter
The REP_OPTION parameter controls the application of the REP_DIST axis
parameter and the repeat option of the CAMBOX and MOVELINK motion
control commands. The default value is 0.
Bit
0 The repeated distance range is controlled by bit 0 of the
REP_OPTION parameter.
• If REP_OPTION bit 0 is OFF, the range of the demanded and
measured
REP_DIST.
• If REP_OPTION bit 0 is ON, the range of the demanded and
measured positions will be between 0 and REP_DIST.
1 The automatic repeat option of the CAMBOX and MOVELINK com-
mands are controlled by bit 1 of the REP_OPTION parameter. The
bit is set ON to request the system software to end the automatic
repeat option. When the system software has set the option OFF it
automatically clears bit 1 of REP_OPTION.
AXIS, CAMBOX, MOVELINK, REP_DIST
Structural Command
REPEAT
<commands>
UNTIL condition
The REPEAT ... UNTIL structure allows the program segment between the
REPEAT and the UNTIL statement to be repeated a number of times until the
condition becomes TRUE.
REPEAT ... UNTIL construct can be nested indefinitely.
commands
Any valid set of BASIC commands
condition
Any valid BASIC logical expression
FOR, WHILE
A conveyor is to index 100mm at a speed of 1000mm/s, wait for 0.5s and then
repeat the cycle until an external counter signals to stop by turning ON
input 4.
cycle:
SPEED = 1000
REPEAT
MOVE(100)
Description
positions will be between
Section 6-3
-REP_DIST and