Specifications

BASIC commands
PROGRAMMING MANUAL 169
Revision 5.0
/i
3.2.257 T_REF
/i
3.2.258 TABLE
/i
/i
Arguments N/A.
Example No example.
See also N/A
Type Axis parameter
Syntax T_REF
DAC
Description The T_REF parameter contains the torque reference value which will be
applied to the servo motor. The range of this parameter is defined by the
number of available bits. For MECHATROLINK-II axes, T_REF takes 32 bits,
so the available range is [-2147483648, 2147483648], which corresponds to a
voltage range [-10V, 10V]. For Flexible axis axes, T_REF takes 16 bits, so
available range is [-32768, 32767], which corresponds to a voltage range [-
10V, 10V]. These ranges can be limited by using the OUTLIMIT parameter.
The actual torque reference is depending on the servo motor.
Arguments N/A
Example T_REF AXIS(0)=1000
See also AXIS, S_REF.
Type System command
Syntax TABLE(address, value {, value})
TABLE(address)
Description The TABLE command loads data to and reads data from the TABLE array.
The TABLE has a maximum length of 64000 elements. The TABLE values are
floating-point numbers with fractions. The TABLE can also be used to hold
information, as an alternative to variables. The TABLE command has two
forms.
• TABLE(address, value{, value}) writes a sequence of values to the
TABLE array. The location of the first element to write is specified by
address. The sequence can have a maximum length of 20 elements.
• TABLE(address) returns the TABLE value at the entry specified by
address.
A value in the TABLE can be read-only if a value of that number or higher has
been previously written to the TABLE. For example, printing TABLE(1001) will
produce an error message if the highest TABLE location previously written to
the TABLE is location 1000. The total TABLE size is indicated by the TSIZE
parameter. Note that this value is one more than the highest defined element
address.The TABLE can be deleted with by using DEL "TABLE" or NEW
"TABLE" on the command line.
Notes:
• Applications like the CAM command, CAMBOX command and the
SCOPE command in Trajexia Studio all use the same TABLE as the data
area. Do not use the same data area range for different purposes.
• The TABLE and VR data can be accessed from all different running
tasks. To avoid problems of two program tasks writing unexpectedly to
one global variable, write the programs in such a way that only one pro-
gram writes to the global variable at a time.
Arguments • address
The first location in the TABLE to read or write. Range: [0,63999]
• value
The value to write at the given location and at subsequent locations.
Example TABLE(100,0,120,250,370,470,530,550)
The above line loads an internal table as below.
Table entry Value
100 0
101 120