Specifications

BASIC commands
PROGRAMMING MANUAL 35
Revision 5.0
3.2.30 ATAN2
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3.2.31 ATYPE
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3.2.32 AUTORUN
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Arguments • expression
Any valid BASIC expression.
Example >> PRINT ATAN(1)
0.7854
See also N/A
Type Mathematical function
Syntax ATAN2(expression1, expression2)
Description The ATAN2 function returns the arc-tangent of the non-zero complex number
(expression1, expression2), which is equivalent to the angle between a
point with coordinate (expression1, expression2) and the x-axis. If
expression2 >= 0, the result is equal to the value of ATAN(expression1 /
expression2). The result in radians will be between -PI and PI.
Arguments • expression1
Any valid BASIC expression.
• expression2
Any valid BASIC expression.
Example >> PRINT ATAN2(0,1)
0.0000
See also N/A
Type Axis parameter
Syntax ATYPE = value
Description The ATYPE axis parameter indicates the axis type for the axis. The valid val-
ues depend on TJ1 module the Servo Driver controlling the axis is connected
to. See the table below.
AXIS type ATYPE value Applicable TJ1 unit
Virtual 0 All
MECHATROLINK-II Position 40 TJ1-ML__
MECHATROLINK-II Speed 41 TJ1-ML__
MECHATROLINK-II Torque 42 TJ1-ML__
Flexible axis Stepper Out 43 TJ1-FL02
Flexible axis Servo 44 TJ1-FL02
Flexible axis Encoder Out 45 TJ1-FL02
Flexible axis Absolute Tamagawa 46 TJ1-FL02
Flexible axis Absolute EnDat 47 TJ1-FL02
Flexible axis Absolute SSI 48 TJ1-FL02
MECHATROLINK-II Inverter 49 TJ1-ML__
The ATYPE parameters are set by the system at start-up. For axes controlled
by the Servo Drivers connected to the system via MECHATROLINK-II bus,
the default ATYPE value is 41 (MECHATROLINK-II Speed) for Sigma II Servo
Drivers, or 40 (MECHATROLINK-II Position) for JUNMA Servo Drivers. For
axes controlled by the Servo Drivers connected to the system via the TJ1-
FL02, the default ATYPE value is 44 (Flexible Axis Servo).
Arguments N/A
Example ATYPE AXIS(1) = 45
This command will set axis 1 as Flexible axis encoder output axis.
See also AXIS
Type Program command
Syntax AUTORUN