Omron TJ2-MC64 - PROGRAMMING Programming Manual page 60

BASIC commands
/i
Example A motor on Axis 0 is required to emulate a rotating mechanical CAM. The
position is linked to motion on axis 3. The "shape" of the motion profile is held
in TABLE values 1000..1035.
The table values represent the mechanical cam but are scaled to range from
0-4000.
TABLE(1000,0,0,167,500,999,1665,2664,3330,3497,3497)
TABLE(1010,3164,2914,2830,2831,2997,3164,3596,3830,3996,3996)
TABLE(1020,3830,3497,3330,3164,3164,3164,3330,3467,3467,3164)
TABLE(1030,2831,1998,1166,666,333,0)
BASE(3)
MOVEABS(130)
WAIT IDLE
'start the continuously repeating cambox
CAMBOX(1000,1035,1,360,3,4) AXIS(0)
FORWARD start camshaft axis
WAIT UNTIL IN(2)=OFF
REP_OPTION = 2 'cancel repeating mode by setting bit 1
WAIT IDLE AXIS(0) waits for cam cycle to finish
CANCEL 'stop camshaft axis
WAIT IDLE
Note: The system software resets bit 1 of REP_OPTION after the repeating
mode has been cancelled.
Setting bit 3 (value 8) of the link options parameter enables the CAMBOX pat-
tern mode. This mode enables a sequence of scale values to be cycled auto-
matically. This is normally combined with the automatic 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 pat-
tern sequence is specified in a separate section of the TABLE memory. There
is a new TABLE block defined: The "Control Block". This block of seven
TABLE values defines the pattern position, repeat controls 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:
PROGRAMMING MANUAL
fig. 10
54