Specifications

BASIC commands
PROGRAMMING MANUAL 142
Revision 5.0
3.2.207 POS_OFFSET
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3.2.208 POWER_UP
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3.2.209 PRINT
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Example No example.
See also NTYPE, PROC.
Type System parameter
Syntax POS_OFFSET=value
Description For Piezo Operation. This keyword allows a positive offset to be applied to the
output DAC signal from the servo loop. The offset is applied after the
DAC_SCALE function. An offset of 327 will represent an offset of 0.1 volts for
axis with servo output generated by a 16 bit DAC. It is suggested that as off-
set of 65% to 70% of the value required to make the stage move in an open
loop situation is used.
Arguments N/A
Example No example.
See also N/A
Type System parameter
Syntax POWER_UP
Description This parameter is used to determine whether or not programs should be read
from Flash-ROM on power up or software reset (EX).
Two values are possible: 0: Use the programs in battery backed RAM; 1:
Copy programs from the controllers Flash-ROM into RAM.
Programs are individually selected to be run at power up with the RUNTYPE
command
Notes:
• POWER_UP is always an immediate command and therefore cannot be
included in programs.
• This value is normally set by Trajexia Studio.
Arguments N/A
Example No example.
See also EPROM
Type I/O command
Syntax PRINT [ #n, ] expression { , expression}
? [ #n, ] expression { , expression }
Description The PRINT command outputs a series of characters to the communication
ports. PRINT can output parameters, fixed ASCII strings, and single ASCII
characters. By using PRINT #n, any port can be selected to output the infor-
mation to.
Multiple items to be printed can be put on the same line separated by a
comma or a semi-colon. A comma separator in the print command places a
tab between the printed items. The semi-colon separator prints the next item
without any spaces between printed items.
The width of the field in which a number is printed can be set with the use of
[w,x] after the number to be printed. The width of the column is given by w and
the number of decimal places is given by x. Using only one parameter [x]
takes the default width and specifies the number of decimal places to be
printed. The numbers are right aligned in the field with any unused leading
characters being filled with spaces. If the number is too long, then the field will
be filled with asterisks to signify that there was not sufficient space to display
the number. The maximum field width allowable is 127 characters.
The backslash \ command can be used to print a single ASCII character.
Arguments • n
The specified output device. When this argument is omitted, the port as
specified by OUTDEVICE will be used. See the table below.
Value Description
0 Programming port 0 (default)
1 RS-232C serial port 1
2 RS-422A/485 serial port 2