Omron trajexia CJ1W-MCH72 Operation Manual page 116

All BASIC commands
4-2-42 BREAK_RESET
4-2-43 CAM
/i
Type System command
Syntax BREAK_RESET "program_name"
Description Used by Trajexia Studio to remove all break points from the specified
program.
Arguments • program_name
The name of the program from which you want to remove all break
points.
Example BREAK_RESET "simpletest"
Will remove all break points from program simpletest.
See also N/A
/i
Type Axis command
Syntax CAM(start_point, end_point, table_multiplier, distance)
Description The CAM command is used to generate movement of an axis following
a position profile which is stored in the TABLE variable array. The
TABLE values are absolute positions relative to the starting point and
are specified in encoder edges. The TABLE array is specified with the
TABLE command.
The movement can be defined with any number of points from 3 to the
maximum table size available (64000). The CJ1W-MCH72 moves con-
tinuously between the values in the TABLE to allow a number of points
to define a smooth profile. Two or more CAM commands can be exe-
cuted simultaneously using the same or overlapping values in the
TABLE array. The TABLE profile is traversed once.
CAM requires that the start element in the TABLE array has value zero.
The distance argument together with the SPEED and ACCEL parame-
ters determine the speed moving through the TABLE array. Note that in
order to follow the CAM profile exactly the ACCEL parameter of the axis
must be at least 1000 times larger than the SPEED parameter.
CAM works on the default basis axis (set with BASE) unless AXIS is
used to specify a temporary base axis.
Section 4-2
105