Tan; Ticks - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description
Precautions:
Arguments:
See also:
Examples:

6-3-188 TAN

Type:
Syntax:
Description:
Arguments:
Example:

6-3-189 TICKS

Type:
Description:
parameter. Note that this value is one more than the highest defined element
address.
The table can be deleted with by using DEL "TABLE" or NEW "TABLE" on the
command line.
1. Applications like the CAM command, CAMBOX command and the SCOPE
command in Motion Perfect all use the same Table as the data area. Do
not use the same data area range for different purposes.
2. The Table and VR data can be accessed from all different running tasks.
To avoid problems of two program tasks writing unexpectedly to one global
variable, write the programs in such a way that only one program writes to
the global variable at a time.
3. The Table and VR data in RAM will be lost when the power is switched
OFF. If valid data needs to be recovered during start-up, write the data into
Flash memory using the FLASHVR command.
address
The first location in the Table to read or write. Range: [0,7999]
value
The value to write at the given location and at subsequent locations.
CAM, CAMBOX, DEL, FLASHVR, NEW, SCOPE, TSIZE, VR
Example 1
TABLE(100,0,120,250,370,470,530,550)
The above line loads the following internal table:
Table Entry Value
100 0
101 120
102 250
103 370
104 470
105 530
106 550
Example 2
The following line will print the value at location 1000.
>> PRINT TABLE(1000)
Mathematical Function
TAN( expression )
The TAN function returns the tangent of the expression. The expression is
assumed to be in radians.
expression
Any valid BASIC expression.
>> print TAN(PI/4)
1.0000
Task Parameter
The TICKS parameter contains the current count of the task clock pulses.
TICKS is a 32-bit counter that is decremented on each servo cycle. TICKS
can be written and read. It can be used to measure cycles times, add time
delays, etc.
Section 6-3
189