Omron trajexia CJ1W-MCH72 Operation Manual page 127

All BASIC commands
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Example A quilt stitching machine runs a feed cycle that stitches a plain pattern
before it starts a patterned stitch. The plain pattern must run for 1000
cycles. Then, it must runs a pattern continuously, until requested to stop
at the end of the pattern. The cam profile controls the motion of the nee-
dle bar between moves. The pattern table controls the distance of the
move to make the pattern.
The same shape is used for the initialisation cycles and the pattern. This
shape is held in TABLE values 100..150. The running pattern sequence
is held in TABLE values 1000..4999. The initialisation pattern is a single
value held in TABLE(160). The initialisation control block is held in
TABLE(200)..TABLE(206). The running control block is held in
TABLE(300)..TABLE(306).
' Set up Initialisation control block:
TABLE(200,160,-1,160,160,0,1000,300)
' Set up running control block:
TABLE(300,1000,-1,1000,4999,0,-1,-1)
' Run whole lot with single CAMBOX:
' Third parameter is pointer to first control block
CAMBOX(100,150,200,5000,1,20)
WAIT UNTIL IN(7)=OFF
TABLE(305,0) ' Set zero repeats: This will stop at end of pattern
Note: The axis to which the CAMBOX is linked can run in a positive or
negative direction. In the case of a negative direction link, the pattern
executes in reverse. In the case where a certain number of pattern
repeats is specified with a negative direction link, the first control block
produces one repeat less than expected. This is because the CAMBOX
loads a zero link position which immediately goes negative on the next
servo cycle triggering a REPEAT COUNT. This effect only occurs when
the CAMBOX is loaded, not on transitions from CONTROL BLOCK to
CONTROL BLOCK. This effect can easily be compensated for: either
increase the required number of repeats, or set the initial value of
REPEAT POSITION to 1.
See also AXIS, CAM, REP_OPTION, TABLE
Section 4-2