Omron TJ2-MC64 - PROGRAMMING Programming Manual page 50

BASIC commands
Example ON BASICERROR GOTO error_routine
...
no_error = 1
STOP
error_routine:
IF no_error = 0 THEN
PRINT "The error "; RUN_ERROR[0];
PRINT " occurred in line "; ERROR_LINE[0]
ENDIF
STOP
If an error occurs in a BASIC program in this example, the error routine will be
executed.
The IF statement is present to prevent the program going into error routine
when it is stopped normally.
See also ERROR_LINE, ON, RUN_ERROR.
3.2.44 BATTERY_LOW
/i
Type System parameter (read-only)
Syntax BATTERY_LOW
Description This parameter returns the current state of the battery condition. If
BATTERY_LOW=ON then the battery needs to be changed. If
BATTERY_LOW=OFF then battery condition is ok.
Arguments N/A
Example No example.
See also N/A
3.2.45 BREAK_RESET
/i
Type System command
Syntax BREAK_RESET "program_name"
Description Used by Trajexia Studio to remove all break points from the specified pro-
gram.
PROGRAMMING MANUAL
Arguments • program_name
The name of the program from which you want to remove all break
points.
Example BREAK_RESET "simpletest"
Will remove all break points from program simpletest.
See also N/A
3.2.46 CAM
/i
Type Axis command
Syntax CAM(start_point, end_point, table_multiplier, distance)
Description The CAM command is used to generate movement of an axis following a
position profile which is stored in the TABLE variable array. The TABLE val-
ues are absolute positions relative to the starting point and are specified in
encoder edges. The TABLE array is specified with the TABLE command.
The movement can be defined with any number of points from 3 to the maxi-
mum table size available (500000). The TJ2-MC64 moves continuously
between the values in the TABLE to allow a number of points to define a
smooth profile. Two or more CAM commands can be executed simultane-
ously using the same or overlapping values in the TABLE array. The TABLE
profile is traversed once.
The distance argument together with the SPEED and ACCEL parameters
determine the speed moving through the TABLE array. Note that in order to
follow the CAM profile exactly the ACCEL parameter of the axis must be at
least 1000 times larger than the SPEED parameter.
CAM works on the default basis axis (set with BASE) unless AXIS is used to
specify a temporary base axis.
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