Omron trajexia CJ1W-MCH72 Operation Manual page 125

All BASIC commands
114
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Setting bit 3 (value 8) of the link options parameter enables the
CAMBOX pattern mode. This mode enables a sequence of scale val-
ues to be cycled automatically. This is normally combined with the auto-
matic repeat mode, so the options parameter must be set to 12. This
diagram shows a typical repeating pattern which can be automated with
the CAMBOX pattern mode.
The parameters for this mode are treated differently to the standard
CAMBOX function:
CAMBOX(start, end, control block pointer, link dist, link
axis,options)
The start and end parameters specify the basic shape profile ONLY. The
pattern sequence is specified in a separate section of the TABLE mem-
ory. There is a new TABLE block defined: The "Control Block". This
block of seven TABLE values defines the pattern position, repeat con-
trols etc. The block is fixed at 7 values long.
Therefore in this mode only there are 3 independently positioned
TABLE blocks used to define the required motion:
• SHAPE BLOCK: This is directly pointed to by the CAMBOX com-
mand as in any CAMBOX.
• CONTROL BLOCK: This is pointed to by the third CAMBOX param-
eter in this options mode only. It is of fixed length (7 table values). It
is important to note that the control block is modified during the
CAMBOX operation. It must therefore be re-initialised prior to each
use.
• PATTERN BLOCK: The start and end of this are pointed to by 2 of
the CONTROL BLOCK values. The pattern sequence is a sequence
of scale factors for the SHAPE.
The table below gives the CONTROL BLOCK parameters
Note: READ/WRITE values can be written to by the user program dur-
ing the pattern CAMBOX execution.
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Value Parameter R/W
0 CURRENT R
POSITION
1 FORCE R/W
POSITION
2 START R
PATTERN
3 END R
PATTERN
4 REPEAT R/W
POSITION
Description
The current position within the TABLE of the pattern
sequence. This value should be initialised to the START
PATTERN number.
Normally this value is -1. If at the end of a SHAPE the
user program has written a value into this TABLE posi-
tion the pattern will continue at this position. The system
software will then write -1 into this position. The value
written must be inside the pattern such that the value:
CB(2)<=CB(1)<=CB(3)
The position in the TABLE of the first pattern value.
The position in the TABLE of the final pattern value.
The current pattern repeat number. Initialise this number
to 0. The number will increment when the pattern
repeats if the link axis motion is in a positive direction.
The number will decrement when the pattern repeats if
the link axis motion is in a negative direction. Note that
the counter runs starting at zero: 0,1,2,3...
Section 4-2