Specifications

BASIC commands
PROGRAMMING MANUAL 16
Revision 5.0
3.1.2 Axis parameters
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MOVEABS Moves one or more axes at the demand speed, acceleration and
deceleration to the position specified as absolute position.
MOVECIRC Interpolates 2 orthogonal axes in a circular arc.
MOVELINK Creates a linear move on the base axis linked via a software gear-
box to the measured position of a link axis.
MOVEMODIFY Changes the absolute end position of the current single-axis linear
move (MOVE or MOVEABS).
RAPIDSTOP Cancels the current move on all axes.
REGIST Captures an axis position when a registration input or the Z mark on
the encoder is detected.
REVERSE Moves an axis continuously in reverse at the speed set in the
SPEED parameter.
STEP_RATIO Sets the ratio for the axis stepper output.
Name Description
ACCEL Contains the axis acceleration rate.
ADDAX_AXIS Contains the number of the axis to which the base axis is cur-
rently linked to by ADDAX.
ATYPE Contains the axis type.
AXIS_DISPLAY Selects information that are represented by the LEDs on the
front cover of the TJ1-FL02.
AXIS_ENABLE Enables and disables particular axis independently of other axis.
AXISSTATUS Contains the axis status.
BACKLASH_DIST Defines the amount of backlash compensation.
CLOSE_WIN Defines the end of the window in which a registration mark is
expected.
CLUTCH_RATE Defines the change in connection ratio when using the
CONNECT command.
Name Description
CREEP Contains the creep speed.
D_GAIN Contains the derivative control gain.
DAC_SCALE Sets scale and polarity applied to DAC values.
DATUM_IN Contains the input number to be used as the origin input.
DECEL Contains the axis deceleration rate.
DEMAND_EDGES Contains the current value of the DPOS axis parameter in
encoder edges.
DPOS Contains the demand position generated by the move com-
mands.
DRIVE_CONTROL Selects data to be monitored using DRIVE_MONITOR for axes
connected via the MECHATROLINK-II bus. For axes connected
via the TJ1-FL02, DRIVE_CONTROL sets outputs of the TJ1-
FL02.
DRIVE_INPUTS Holds I/O data of the driver connected to MECHATROLINK-II
bus. Data is updated every servo cycle.
DRIVE_MONITOR Monitors data of the Servo Driver connected to MECHATRO-
LINK-II bus. Data are updated every servo cycle.
DRIVE_STATUS Contains the current status of the Servo Driver.
ENCODER Contains a raw copy of the encoder hardware register.
ENCODER_BITS Sets the number of bits for the absolute encoder connected to
TJ1-FL02.
ENCODER_CONTROL Controls operating mode of the EnDat absolute encoder.
ENCODER_ID Returns the ID value of the absolute encoder connected to TJ1-
FL02.
ENCODER_RATIO Sets scaling value for incoming encoder counts.
ENCODER_STATUS Returns the status of the Tamagawa absolute encoder.
ENCODER_TURNS Returns the multi-turn count of the absolute encoder.
ENDMOVE Holds the position of the end of the current move.
ERRORMASK Contains the mask value that determines if MOTION_ERROR
occurs depending on the axis status.
Name Description