Programming Manual - Omron TJ2-MC64 - PROGRAMMING Programming Manual

BASIC commands
/i
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 pat-
tern. The cam profile controls the motion of the needle 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 nega-
tive 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 transi-
tions 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

PROGRAMMING MANUAL

fig. 11
AXIS 0
AXIS 1
57