Omron trajexia CJ1W-MCH72 Operation Manual page 326

How-to's
Suppose the motion system consists of two axis, AXIS(0) and AXIS(1).
AXIS(0) is the master axis. It makes a simple forward movement. AXIS(1) is
the slave axis. It must follow the master axis in accordance to cosine rule:
where x is the position of the master AXIS(0), and x
0
slave AXIS(1). You can link the two axis with the CAMBOX command. For
more details, refer to section 4-2-44. Suppose furthermore that the parameter
end_pos is not constant, but it can change due to different conditions of the
motion system. The part of the program that creates the CAM table is:
'Initial CAM values
VR(end_pos)=15
current_end_pos=VR(end_pos)
FOR i=0 TO 999
TABLE(i, VR(end_pos)*(1-COS(2*PI*i/999))/2)
NEXT i
...
loop:
IF VR(end_pos)<>current_end_pos THEN
'Recalculate the CAM Table
FOR i=0 TO 999
TABLE(i, VR(end_pos)*(1-COS(2*PI*i/999))/2)
NEXT i
current_end_pos=VR(end_pos)
ENDIF
...
GOTO loop
The VR(end_pos) value can be changed from some other program or
externally from another controller using FINS messaging. In this case, the
CAM table must be recalculated.
The creation of the CAM table is complete. The initialization of the desired axis
and system parameters for tracing is:
'Initializations
FOR i=0 TO 1
BASE(i)
ATYPE=40
UNITS=8192
REP_DIST=20
REP_OPTION=1
FE_LIMIT=1
DRIVE_CONTROL=11
SPEED=8
ACCEL=50
DECEL=50
DEFPOS(0)
SERVO=ON
CANCEL
NEXT i
WDOG=ON
BASE(1)
'Scope settings:
Section 5-1
is the position of the
1
315