Specifications

BASIC commands
PROGRAMMING MANUAL 15
Revision 5.0
3 BASIC commands
3.1 Categories
This section lists all BASIC commands divided by categories. The categories
are:
• Axis commands.
•Axis parameters.
• Communication commands and parameters.
• Constants.
• I/O commands, functions and parameters.
• Mathematical functions and operations.
• Program commands.
• Program control commands.
• Slot parameters and modifiers.
• System commands and functions.
• System parameters.
• Task commands and parameters.
The lists are quick reference guides only. A complete description of the
commands is given in alphabetical order in the next section.
3.1.1 Axis commands
/i
Name Description
ACC Changes the ACCEL and DECEL at the same time.
ADD_DAC Sum to the DAC value of one axis to the analogue output of the
base axis.
ADDAX Sets a link to a superimposed axis. All demand position movements
for the superimposed axis will be added to any moves that are cur-
rently being executed.
B_SPLINE Expands the profile stored in TABLE memory using the B-Spline
mathematical function.
BACKLASH Allows the backlash compensation to be loaded.
BASE Used to set the base axis to which the commands and parameters
are applied.
CAM Moves an axis according to values of a movement profile stored in
the TABLE variable array.
CAMBOX Moves an axis according to values of a movement profile stored in
the TABLE variable array. The motion is linked to the measured
motion of another axis to form a continuously variable software gear-
box.
CANCEL Cancels the move on an axis.
CONNECT Connects the demand position of an axis to the measured move-
ments of the driving axis to produce an electronic gearbox.
DATUM Performs one of 7 origin search sequences to position an axis to an
absolute position or reset a motion error.
DEFPOS Defines the current position as a new absolute position.
DISABLE_GROUP Groups axes together for error disabling.
DRIVE_ALARM Monitors the current alarm.
DRIVE_CLEAR Clears the alarm status of the Servo Driver.
DRIVE_READ Reads the specified parameter of the Servo Driver.
DRIVE_RESET Resets the Servo Driver.
DRIVE_WRITE Writes a specific value to the specified parameter of the Servo
Driver.
FORWARD Moves an axis continuously forward at the speed set in the SPEED
parameter.
HW_PSWITCH Sets on and off the hardware switch on output 0 of the TJ1-FL02
when predefined positions are reached.
MECHATROLINK Initializes MECHATROLINK-II bus and performs various operations
on MECHATROLINK-II stations connected to the bus.
MHELICAL Interpolates 3 orthogonal axes in a helical move.
MOVE Moves one or more axes at the demand speed, acceleration and
deceleration to the position specified as increment from the current
position.
Name Description