Specifications

BASIC commands
PROGRAMMING MANUAL 164
Revision 5.0
3.2.241 SERVO
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3.2.242 SERVO_PERIOD
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3.2.243 SET_BIT
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Description The SELECT command specifies the current program for editing, running, list-
ing, etc. SELECT makes a new program if a program with the name entered
does not exist. The program name can also be specified without quotes.
When a program is selected, the commands COMPILE, DEL, EDIT, LIST,
NEW, RUN, STEPLINE, STOP and TROFF will apply to the currently selected
program unless a program name is specified in the command line. When
another program is selected, the previously selected program will be com-
piled. The selected program cannot be changed when a program is running.
Note: This command is implemented for a Command Line Terminal.
Arguments N/A
Example >> SELECT "PROGRAM"
PROGRAM selected
>> RUN
See also COMPILE, DEL, EDIT, LIST, NEW, RUN, STEPLINE, STOP, TROFF.
Type Axis parameter
Syntax SERVO
Description The SERVO parameter determines whether the base axis runs under servo
closed loop control (SERVO=ON) or open loop (SERVO=OFF). In closed
loop, the motion control algorithm will output a speed reference signal deter-
mined by the control gain settings and the Following Error. The position of the
servo motor is determined using the Axis commands.
In open loop, the speed reference signal is completely determined by the
S_REF axis parameter.
Arguments N/A
Example SERVO AXIS(0) = ON ' Axis 0 is under servo control
SERVO AXIS(1) = OFF ' Axis 1 is run open loop
See also AXIS, FE_LIMIT, S_REF, S_REF_OUT, WDOG.
Type System parameter
Syntax SERVO_PERIOD
Description The SERVO_PERIOD parameter sets the servo cycle period of the TJ1-
MC__. The timing of the execution of the program tasks and the refreshing of
the control data and I/O of the Unit are all depending on this setting. The
parameter is defined in microseconds. The TJ1-MC__ can be set in either 0.5,
1.0 or 2.0ms servo cycle. See the table below. The controller must be reset
before the new servo period will be applied.
Value Description
500 0.5ms
1000 1.0ms
2000 2.0ms
Arguments N/A
Example No example.
See also EX.
Caution
When the parameter has been set, a power down or software reset
(using EX) must be performed for the complete system. Not doing
so may result in undefined behaviour.
Type System command
Syntax SET_BIT(bit_number, vr_number)
Description The SET_BIT command sets the specified bit in the specified VR variable to
one. Other bits in the variable will keep their values.