Omron TJ2-MC64 - PROGRAMMING Programming Manual page 172

BASIC commands
3.2.235 RAISE_ANGLE
/i
Type Axis parameter
Syntax RAISE_ANGLE
/i
Description Used to define the angle change in radians above which an X-Y system will
interact with a BASIC program to allow for a large change in direction on a
tangential axis. RAISE_ANGLE does not control speed directly so should be
greater than or equal to STOP_ANGLE. When a change in direction in a
sequence of MOVESP/MOVEABSSP/MOVECIRCSP moves exceeds
RAISE_ANGLE the system will set axis parameter CORNER_STATE accord-
ing to the following sequence:
1 - System sets CORNER_STATE to 1 to indicate move ready to be loaded
with large angle change.
2 - BASIC program raises knife.
3 - BASIC program sets CORNER_STATE to 3.
4 - System will load following move but with speed overridden to zero. This
allows the direction to be obtained from TANG_DIRECTION.
5 - BASIC program orients knife possibly using MOVE_TANG.
6 - BASIC program clears CORNER_STATE to 0.
7 - System will ramp up speed to perform the next move.
Arguments N/A
Example ' Raise knife above 25 deg (0.4363 rad)
RAISE_ANGLE = 0.4363
See also CORNER_MODE, CORNER_STATE
PROGRAMMING MANUAL
Speed
DECEL_ANGLE
fig. 53
STOP_ANGLE
Angle
RAISE_ANGLE
166