Omron TJ2-MC64 - PROGRAMMING Programming Manual page 159

BASIC commands
/i
Example A move is needed that follows a spherical path which ends 30mm up in the Z
direction:
BASE(3,4,5)
MSPHERICAL(30,0,30,8.7868,0,21.2132,0)
/i
Example A similar move that follows a spherical path but at 45 degrees to the Y axis
which ends 30mm above the XY plane:
BASE(0,1,2)
MSPHERICAL(21.2132,21.2132,30,6.2132,6.2132,21.2132,0)
/i
See also N/A
3.2.204 MTYPE
/i
Type Axis parameter (read-only)
Syntax MTYPE
Description The MTYPE parameter contains the type of move currently being executed.
The possible values are given in the table below.
PROGRAMMING MANUAL
fig. 50
30
30
fig. 51
30
30
45º
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