Omron TJ2-MC64 - PROGRAMMING Programming Manual page 52

BASIC commands
/i
Example Motion is required to follow the POSITION equation:
t(x) = x*25 + 10000(1-cos(x)), where x is in degrees. This example table pro-
vides a simple oscillation superimposed with a constant speed. To load the
table and cycle it continuously the program would be:
FOR deg=0 TO 360 STEP 20 'loop to fill in the table
rad = deg * 2 * PI/360 'convert degrees to radians
x = deg * 25 + 10000 * (1-COS(rad))
TABLE(deg/20,x) 'place value of x in table
NEXT deg
WHILE IN(2)=ON 'repeat cam motion while input 2 is on
CAM(0,18,1,200)
WAIT IDLE
WEND
/i
TABLE position
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
PROGRAMMING MANUAL
Degree Value
0 0
20 1103
40 3340
60 6500
80 10263
100 14236
120 18000
140 21160
160 23396
180 24500
200 24396
220 23160
240 21000
260 18236
280 15263
fig. 5
46