Cambox - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description

6-3-33 CAMBOX

Type:
Syntax:
Description:
Arguments:
124
CAM(1,19,1,200)
GOTO loop
Note The subroutine camtable would load the data below into the Table array.
Table Degree
position
1 0
2 20
3 40
4 60
5 80
6 100
7 120
8 140
9 160
10 180
11 200
12 220
13 240
14 260
15 280
16 300
17 320
18 340
19 360
Motion Control Command
CAMBOX( start_point, end_point, table_multiplier, link_distance, link_axis
[ , link_option [ , link_position ]])
The CAMBOX command is used to generate movement of an axis following a
position profile in the Table variable array. The motion is linked to the mea-
sured motion of another axis to form a continuously variable software gear-
box. The Table values are absolute position relative to the starting point and
are specified in encoder edges.
The Table array is specified with the TABLE command. The movement can
be defined with any number of points from 2 to 8.000. Being able to specify
the start point allows the Table array to be used to hold more than one profile
and/or other information. The MC Unit moves continuously between the val-
ues in the Table to allow a number of points to define a smooth profile. Two or
more CAMBOX commands can be executed simultaneously using the same
or overlapping values in the Table array.
The CAMBOX command requires the start element of the Table to have
value zero. Note also that CAMBOX command allows traversing the Table
backwards as well as forwards depending on the Master axis direction.
The link_option argument can be used to specify different options to start the
command and to specify a continuous CAM. For example, if the link_option is
set to 4 then the CAMBOX operates like a "physical" CAM.
CAMBOX works on the default basis axis (set with BASE) unless AXIS is
used to specify a temporary base axis.
start_point
The address of the first element in the Table array to be used.
Value
0
1103
3340
6500
10263
14236
18000
21160
23396
24500
24396
23160
21000
18236
15263
12500
10340
9103
9000
Section 6-3