Omron TJ2-MC64 - PROGRAMMING Programming Manual page 49

BASIC commands
Description The BASE command is used to set the default base axis or to set a specified
axis sequence group. All subsequent motion commands and axis parameters
will apply to the base axis or the specified axis group unless the AXIS com-
mand is used to specify a temporary base axis. The base axis or axis group is
effective until it is changed again with BASE.
Each BASIC process can have its own axis group and each program can set
its own axis group independently. Use the PROC modifier to access the
parameters for a certain task.
The BASE order grouping can be set by explicitly assigning the order of axes.
This order is used for interpolation purposes in multi-axes linear and circular
moves. The default for the base axis group is (0,1,2 ... 62,63) at start-up or
when a program starts running on a task. The BASE command without any
arguments returns the current base order grouping.
Note: If the BASE command does not specify all the axes, the BASE com-
mand will "fill in" the remaining values automatically. Firstly it will fill in any
remaining axes above the last declared value, then it will fill in any remaining
axes in sequence.
So BASE(2,6,10) sets the internal array of 64 axes to:
2,6,10,11,12,13,14,15 ... ,61,62,63,0,1,3,4,5,7,8,9.
Note: The BASE command without any arguments should only be used on
the Command Line Terminal.
Arguments The command can take up to 64 arguments.
• axis_i
The number of the axis set as the base axis and any subsequent axes in
the group order for multi-axis moves.
Example BASE(1)
UNITS = 2000 ' Set unit conversion factor for axis 1
SPEED = 100 ' Set speed for axis 1
ACCEL = 5000 ' Set acceleration rate for axis 1
BASE(2)
UNITS = 2000 ' Set unit conversion factor for axis 2
SPEED = 125 ' Set speed for axis 2
ACCEL = 10000 ' Set acceleration rate for axis 2
It is possible to program each axis with its own speed, acceleration and other
parameters.
PROGRAMMING MANUAL
Example BASE(0)
MOVE(100,-23.1,1250)
In this example, axes 0, 1 and 2 will move to the specified positions at the
interpolated speed and acceleration set for axis 0. BASE(0) sets the base
axis to axis 0, which determines the three axes used by MOVE and the speed
and acceleration rate.
Example >> BASE
(0,2,1)
On the command line the base group order can be shown by typing BASE.
Example >> RUN "PROGRAM", 3
>> BASE PROC(3)
(0,2,1)
Use the PROC modifier to show the base group order of a certain task.
Example >> BASE(2)
>> PRINT BASE
2.0000
Printing BASE will return the current selected base axis.
See also AXIS
3.2.43 BASICERROR
/i
Type System command
Syntax BASICERROR
Description The BASICERROR command can be used to run a routine when a run-time
error occurs in a program. BASICERROR can only be used as part of an ON
... GOSUB or ON ... GOTO command. This command is required to be exe-
cuted once in the BASIC program. If several commands are used only the
one executed last is effective.
Arguments N/A
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