Omron trajexia CJ1W-MCH72 Operation Manual page 118

All BASIC commands
/i
Example Motion is required to follow the POSITION equation:
t(x) = x*25 + 10000(1-cos(x)), where x is in degrees. This example table
provides a simple oscillation superimposed with a constant speed. To
load the table and cycle it continuously the program would be:
FOR deg=0 TO 360 STEP 20 'loop to fill in the table
rad = deg * 2 * PI/360 'convert degrees to radians
x = deg * 25 + 10000 * (1-COS(rad))
TABLE(deg/20,x) 'place value of x in table
NEXT deg
WHILE IN(2)=ON 'repeat cam motion while input 2 is on
CAM(0,18,1,200)
WAIT IDLE
WEND
Note: The subroutine camtable loads the data into the cam TABLE, as
shown in the figure and in the table below.
/i
TABLE position
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
Degree
0 0
20 1103
40 3340
60 6500
80 10263
100 14236
120 18000
140 21160
160 23396
180 24500
200 24396
220 23160
240 21000
260 18236
280 15263
300 12500
320 10340
340 9103
360 9000
Section 4-2
Value
107