ID : 7288

MotionPreparation

Function

The motion preparation is performed automatically.

This command is available from Ver. 2.6.*.

Syntax

MotionPreparation

Description

The motion preparation is performed automatically.

This command is mainly executed when the motion preparation is not completed. If the motion preparation is not completed, a normal task cannot be executed, but a supervisory task can be executed. Therefore, please execute this command as a supervisory task.

Attention

When this command is executed, the [Motion preparation] window of TP App disappears automatically.
parameters need to be checked on the [Motion Preparation] window of TP App. (Refer to "Motion Preparation" of Function Guide.)
MotionPreparation command cannot be executed until the parameters are checked.

Example

The following program is an example to execute AutoCal and the motion preparation as a supervisory task.

Sub Main
  'Execute the following command as a supervisory task
  'A set of processing at the startup

  'AutoCal command execution
  AutoCal
  
  'Motion preparation command is executed
  MotionPreparation

End Sub

The following program is an example to execute the motion preparation as a supervisory task if the motion preparation is not completed.

Sub Main
  'Execute the following command as a supervisory task

  'Recovery method after error occurrence or emergency stop
  If CurErr( 0 ) Then
    ClrErr
  End If
  
  If GetMotionPreparationState = 0 Then
    MotionPreparation
  End If

End Sub