True; Tsize; Units; Version - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description

6-3-193 TRUE

Type:
Description:
Example:

6-3-194 TSIZE

Type:
Description:
See also:
Example:

6-3-195 UNITS

Type:
Description:
Precautions:
See also:
Example:

6-3-196 VERSION

Type:
Description:
MOVE(-10,0)
Constant
The TRUE constant returns the numerical value -1.
Note A constant is read-only.
test:
t = IN(0) AND IN(2)
IF t = TRUE THEN
PRINT "Inputs are ON"
ENDIF
System Parameter
The TSIZE parameter returns the size of the Table array, which is one more
than the currently highest defined table element.
TSIZE is reset to zero when the Table array is deleted using DEL "TABLE" or
NEW "TABLE" on the command line.
Note This parameter is read-only.
DEL, NEW, TABLE
The following example assumes that no location higher than 1000 has been
written to the Table array.
>> TABLE(1000,3400)
>> PRINT TSIZE
1001.0000
Axis Parameter
The UNITS parameter contains the unit conversion factor. The unit conver-
sion factor enables the user to define a more convenient user unit like m, mm
or motor revolutions by specifying the amount of encoder edges to include a
user unit.
Axis parameters like speed, acceleration, deceleration and the motion control
commands are specified in these user units.
The UNITS parameter can be any non-zero value, but it is recommended to
design systems with an integer number of encoder pulses per user unit.
Changing UNITS will affect all axis parameters which are dependent on
UNITS in order to keep the same dynamics for the system.
AXIS, PP_STEP
A leadscrew arrangement has a 5mm pitch and a 1,000-pulse/rev encoder.
The units must be set to allow moves to be specified in mm.
The 1,000 pulses/rev will generate 1,000 x 4 = 4,000 edges/rev. One rev is
equal to 5mm. Therefore, there are 4,000/5 = 800 edges/mm. UNITS is thus
set as following.
>> UNITS = 1000*4/5
System Parameter
The VERSION parameter returns the current firmware version number of the
current system installed in the MC Unit.
Section 6-3
191