Omron TJ2-MC64 - PROGRAMMING Programming Manual page 67

BASIC commands
3.2.50 CHANGE_DIR_LAST
/i
Type Axis parameter
Syntax CHANGE_DIR_LAST
Description Allows the program to examine the change in direction in radians of the last
programmed MOVESP/MOVEABSSP/MOVECIRCSP move of 2 or more
axes. CHANGE_DIR_LAST is always positive.
Arguments N/A
/i
Example MOVESP(100,100)
PRINT "START_DIR_LAST: ";START_DIR_LAST/(2*PI)*360[0];" Deg"
PRINT "CHANGE_DIR_LAST: ";CHANGE_DIR_LAST/(2*PI)*360[0];" Deg"
PRINT "END_DIR_LAST:
PRINT
MOVESP(-100,100)
PRINT "START_DIR_LAST: ";START_DIR_LAST/(2*PI)*360[0];" Deg"
PRINT "CHANGE_DIR_LAST: ";CHANGE_DIR_LAST/(2*PI)*360[0];" Deg"
PRINT "END_DIR_LAST:
Results in:
START_DIR_LAST: 45 Deg
CHANGE_DIR_LAST: 45 Deg
END_DIR_LAST: 45 Deg
START_DIR_LAST: -45 Deg
CHANGE_DIR_LAST: 90 Deg
END_DIR_LAST: -45 Deg
See also MOVESP, START_DIR_LAST, END_DIR_LAST
PROGRAMMING MANUAL
";END_DIR_LAST/(2*PI)*360[0];" Deg"
";END_DIR_LAST/(2*PI)*360[0];" Deg"
fig. 14
CHANGE_DIR_LAST=90°
START_DIR_LAST=45°
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