Omron trajexia CJ1W-MCH72 Operation Manual page 199

All BASIC commands
188
/i
Example The command sequence follows a rounded rectangle path with axis 1
and 2. Axis 3 is the tool rotation so that the tool is always perpendicular
to the product. The UNITS for axis 3 are set such that the axis is cali-
brated in degrees.
REP_DIST AXIS(3)=360
REP_OPTION AXIS(3)=ON
' all 3 axes must be homed before starting
MERGE=ON
MOVEABS(360) AXIS(3) point axis 3 in correct starting direction
WAIT IDLE AXIS(3)
MOVE(0,12)
MHELICAL(3,3,3,0,1,90)
MOVE(16,0)
MHELICAL(3,-3,0,-3,1,90)
MOVE(0,-6)
MHELICAL(-3,-3,-3,0,1,90)
MOVE(-2,0)
MHELICAL(-3,3,0,3,1,90)
Section 4-2
START