Omron TJ2-MC64 - PROGRAMMING Programming Manual page 137

BASIC commands
3.2.188 MHELICALSP
/i
Type Axis command
Syntax MHELICAL(end1, end2, centre1, centre2, direction, distance3 [,mode]))
Description Forced speed version of the MHELICAL command. When the command is
loaded into the move buffer the FORCE_SPEED and ENDMOVE_SPEED is
copied into the buffer with the move.
This move type has exactly the same parameters as the non-forced speed
version MHELICAL.
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.
• mode
0 = Interpolate the third axis with the main two axis when calculating path
speed (true helical path).
1 = Interpolate only the first two axes for path speed, but move the third
axis in coordination with the other 2 axes (circular path with following
third axis).
Example In a series of buffered moves using the look ahead buffer with MERGE=ON a
helical move is required where the incoming vector speed is 40 units/second
and the finishing vector speed is 20 units/second.
FORCE_SPEED=40
ENDMOVE_SPEED=20
MHELICALSP(100,100,0,100,1,100)
PROGRAMMING MANUAL
See also MHELICAL, FORCE_SPEED, ENDMOVE_SPEED
3.2.189 MOD
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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
3.2.190 MOTION_ERROR
/i
Type System parameter (read-only)
Syntax MOTION_ERROR
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