Omron trajexia CJ1W-MCH72 Operation Manual page 124

All BASIC commands Section 4-2
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Example A motor on Axis 0 is required to emulate a rotating mechanical CAM.
The position is linked to motion on axis 3. The "shape" of the motion
profile is held in TABLE values 1000..1035.
The table values represent the mechanical cam but are scaled to range
from 0-4000.
TABLE(1000,0,0,167,500,999,1665,2664,3330,3497,3497)
TABLE(1010,3164,2914,2830,2831,2997,3164,3596,3830,3996,3996)
TABLE(1020,3830,3497,3330,3164,3164,3164,3330,3467,3467,3164)
TABLE(1030,2831,1998,1166,666,333,0)
BASE(3)
MOVEABS(130)
WAIT IDLE
'start the continuously repeating cambox
CAMBOX(1000,1035,1,360,3,4) AXIS(0)
FORWARD start camshaft axis
WAIT UNTIL IN(2)=OFF
REP_OPTION = 2 'cancel repeating mode by setting bit 1
WAIT IDLE AXIS(0) waits for cam cycle to finish
CANCEL 'stop camshaft axis
WAIT IDLE
Note: The system software resets bit 1 of REP_OPTION after the
repeating mode has been cancelled.
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