Omron SYSMAC CJ Operation Manual page 123

All BASIC commands
link_option
value
4 CAMBOX repeats automatically and bidirectionally. This option is
cancelled
(REP_OPTION = REP_OPTION OR 2).
5 Combination of options 1 and 4.
6 Combination of options 2 and 4.
/i
• link_position
The absolute position where CAMBOX will start when link_option
is set to 2.
Note: When the CAMBOX command is executing, the ENDMOVE
parameter is set to the end of the previous move. The REMAIN axis
parameter holds the remainder of the distance on the link axis.
/i
Example ' Subroutine to generate a SIN shape speed profile
' Uses: p is loop counter
' num_p is number of points stored in tables pos 0..num_p
' scale is distance travelled scale factor
profile_gen:
num_p=30
scale=2000
FOR p=0 TO num_p
TABLE(p,((-SIN(PI*2*p/num_p)/(PI*2))+p/num_p)*scale)
NEXT p
RETURN
This graph plots TABLE contents against table array position. This cor-
responds to motor POSITION against link POSITION when called using
CAMBOX. The SPEED of the motor will correspond to the derivative of
the position curve above.
Description
by setting bit 1 of
Section 4-2
REP_OPTION parameter
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