Specifications

BASIC commands
PROGRAMMING MANUAL 155
Revision 5.0
3.2.222 REMAIN
/i
3.2.223 RENAME
/i
3.2.224 REP_DIST
/i
Type Axis parameter (read-only)
Syntax REMAIN
Description The REMAIN parameter contains the distance remaining to the end of the
current move. It can be checked to see how much of the move has been com-
pleted.
The units in which REMAIN is expressed depends on the type of the motion
command:
• If a master axis is moved by MOVELINK or CAMBOX, REMAIN is
expressed in user units set by UNITS.
• If a slave axis is moved by MOVELINK or CAMBOX, REMAIN is
expressed in encoder counts.
• If a master or a slave axis is moved by a motion command that is not
MOVELINK or CAMBOX, REMAIN is expressed in user units set by
UNITS.
The CONNECT command moves an axis without a defined end. For this
command, REMAIN has the fixed value of 1000.
Arguments N/A
Example To change the speed to a slower value 5mm from the end of a move.
start:
SPEED = 10
MOVE(45)
WAIT UNTIL REMAIN < 5
SPEED = 1
WAIT IDLE
See also AXIS, UNITS
Type Program command
Syntax RENAME "old_program_name" "new_program_name"
Description The RENAME command changes the name of a program in the TJ1-MC__
directory. The program names can also be specified without quotes.
Note: This command is implemented for a Command Line Terminal only and
should not be used from within programs.
Arguments • old_program_name
The current name of the program.
• new_program_name
The new name of the program.
Example RENAME "car" "voiture"
See also COPY, DEL, NEW.
Type Axis parameter
Syntax REP_DIST
Description The REP_DIST parameter contains the repeat distance, which is the allowa-
ble range of movement for an axis before the demand position (DPOS) and
measured position (MPOS) are corrected. REP_DIST is defined in user units.
The exact range is controlled by REP_OPTION. The REP_DIST can have
any non-0 positive value.
When the measured position has reached its limit, the TJ1-MC__ will adjust
the absolute positions without affecting the move in progress or the servo
algorithm. Note that the demand position can be outside the range because
the measured position is used to trigger the adjustment. When measured
position reaches REP_DIST, twice that distance is subtracted to ensure that
the axis always stays in the range [-REP_DIST, REP_DIST], assuming that
REP_OPTION=OFF, or in the range [0, REP_OPTION], assuming that
REP_OPTION=ON.
For every occurrence (DEFPOS, OFFPOS, MOVEABS, MOVEMODIFY)
which defines a position outside the range, the end position will be redefined
within the range.
The default value for all axes is 5000000.
Arguments N/A
Example No example.