Specifications
BASIC commands
PROGRAMMING MANUAL 166
Revision 5.0
3.2.247 SLOT
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3.2.248 SPEED
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3.2.249 SPEED_SIGN
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3.2.250 SQR
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Syntax SIN(expression)
Description The SIN function returns the sine of the expression. Input values are in radi-
ans and may have any value. The result value will be in the range from -1 to
1.
Arguments • expression
Any valid BASIC expression.
Example >> PRINT SIN(PI/2)
1.0000
See also N/A
Type Slot modifier
Syntax SLOT
Description Modifier specifies the unit number for a parameter such as COMMSTYPE.
Trajexia unit numbers are 0 to 6, counting from the left most unit.
Arguments N/A
Example No example.
See also N/A
Type Axis parameter
Syntax SPEED
Description The SPEED parameter contains the demand speed for an axis in units/s. It
can have any positive value (including 0). The demand speed is the maximum
speed for the speed profiled motion commands.
Arguments N/A
Example SPEED = 1000
PRINT "Set speed = ";SPEED
See also ACCEL, AXIS, DATUM, DECEL, FORWARD, MOVE, MOVEABS,
MOVECIRC, MOVEMODIFY, REVERSE, UNITS.
Type Axis parameter
Syntax SPEED_SIGN
Description The SPEED_SIGN parameter configures the voltage range of the analog
speed reference output of the TJ1-FL02 when the axis type ATYPE is set to
44.
If SPEED_SIGN = OFF, the voltage range of the analog speed reference out-
put is [-10V, 10V]. The positive reference voltage corresponds to forward
movements, in which case DPOS and MPOS increment. The negative refer-
ence voltage corresponds to reverse movements, in which case DPOS and
MPOS decrement. OFF is the default setting at power-on.
If SPEED_SIGN = ON, the voltage range of the analog speed reference out-
put is [0V, 10V]. The OUT1 signal of the TJ1-FL02 for the corresponding axis
is used as a direction signal. During forward movements, the controller sets
OUT1 to OFF. During reverse movements, the controller sets OUT1 to ON.
This setting is to be used for Servo Drivers that require both speed and direc-
tion signals as a speed reference.
Arguments N/A
Example No example.
See also ATYPE, S_REF, S_REF_OUT.
Type Mathematical function
Syntax SQR(expression)
Description The SQR function returns the square root of the expression. The expression
must have positive (including 0) value.
Arguments • expression
Any valid BASIC expression.