Mhelical; Mod; Motion_Error - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

BASIC commands

3.2.174 MHELICAL

/i
Type Axis command
Syntax MHELICAL(end1, end2, centre1, centre2, direction, distance3)
MH(end1, end2, centre1, centre2, direction, distance3)
Description Performs a helical move, that is, moves 2 orthogonal axes in such a way as to
produce a circular arc at the tool point with a simultaneous linear move on a
third axis. The first 5 parameters are similar to those of a MOVECIRC() com-
mand. The sixth parameter defines the simultaneous linear move.
Finish 1 and centre 1 are on the current BASE axis. Finish 2 and centre 2 are
on the following axis.
The first 4 distances and the sixth parameter are scaled according to the cur-
rent unit conversion factor for each axis.
Arguments • end1
Position on BASE axis to finish at.
• end2
Position on next axis in BASE array to finish at.
• centre1
Position on BASE axis about which to move.
• centre2
Position on next axis in BASE array about which to move.
• direction
The direction is a software switch which determines whether the arc is
interpolated in a clockwise or anti- clockwise direction. The parameter is
set to 0 or 1. See MOVECIRC.
• distance3
The distance to move on the third axis in the BASE array axis in user
units.
Example No example.
See also MOVECIRC.
PROGRAMMING MANUAL

3.2.175 MOD

/i
Type Mathematical function
Syntax expression1 MOD expression2
Description The MOD function returns the expression2 modulus of expression1. This
function will take the integer part of any non-integer input.
Arguments • expression1
Any valid BASIC expression.
• expression2
Any valid BASIC expression.
Example >> PRINT 122 MOD 13
5.0000
See also N/A

3.2.176 MOTION_ERROR

/i
Type System parameter (read-only)
Syntax MOTION_ERROR
Description The MOTION_ERROR parameter contains a bit pattern showing the axes
which have a motion error. For example. if axis 2 and 6 have the motion error
the MOTION_ERROR value would be 68 (4+64).
A motion error occurs when the AXISSTATUS state for one of the axes
matches the ERRORMASK setting. In this case the enable switch (WDOG)
will be turned off, and MOTION_ERROR contains a bit pattern showing all
axes which have the motion error and the ERROR_AXIS parameter will con-
tain the number of the first axis to have the error.
A motion error can be cleared executing a DATUM(0) command.
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, DATUM, ERROR_AXIS, ERRORMASK, WDOG.
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