Omron TJ2-MC64 - PROGRAMMING Programming Manual page 84

BASIC commands
Arguments N/A
Example ' Decelerate above 15 deg (0.2618 rad)
DECEL_ANGLE = 0.2618
See also ACCEL, AXIS, UNITS.
3.2.84 DEFPOS
/i
Type Axis command
Syntax DEFPOS(pos_1 [ , pos_2 [ , pos_3 [ , pos_4 [, ...]]]])
DP(pos_1 [ , pos_2 [ , pos_3 [ , pos_4 [, ...]]]])
Description The DEFPOS command defines the current demand position (DPOS) as a
new absolute position. The measured position (MPOS) will be changed
accordingly in order to keep the Following Error. DEFPOS is typically used
after an origin search sequence (see DATUM command), as this sets the cur-
rent position to 0. DEFPOS can be used at any time.
As an alternative also the OFFPOS axis parameter can be used. This param-
eter can be used to perform a relative adjustment of the current position.
DEFPOS works on the default basis axis or axis sequence group (set with
BASE) unless AXIS is used to specify a temporary base axis.
Note: The changes to the axis position made using DEFPOS or OFFPOS are
made on the next servo update. This can potentially cause problems when a
move is initiated in the same servo period as the DEFPOS or OFFPOS.
The following example shows how the OFFPOS parameter can be used to
avoid this problem. DEFPOS commands are internally converted into
OFFPOS position offsets, which provides an easy way to avoid the problem
by programming as follows:
DEFPOS(100): WAIT UNTIL OFFPOS = 0: MOVEABS(0)
Arguments The command can take up to 64 arguments.
• pos_i
The absolute position for (base+i) axis in user units. Refer to the BASE
command for the grouping of the axes.
PROGRAMMING MANUAL 78