Omron trajexia CJ1W-MCH72, Operation Manual

Page: 126 / 374

All BASIC commands Section 4-2
115
5 REPEAT
COUNT R/W Required number of pattern repeats. If -1 the pattern
repeats endlessly. The number should be positive.
When the ABSOLUTE value of CB(4) reaches CB(5) the
CAMBOX finishes if CB(6)=-1. The value can be set to 0
to terminate the
CAMBOX at the end of the current pat-
tern.
The axis the CAMBOX is linked to can run in a positive
or negative direction. In the case of a negative direction
link the pattern will execute in reverse. In the case
where a certain number of pattern repeats is specified
with a negative direction link, the first control block will
produce one repeat less than expected. This is because
the CAMBOX loads a zero link position which immedi-
ately goes negative on the next servo cycle triggering a
REPEAT COUNT. This effect only occurs when the
CAMBOX is loaded, not on transitions from CONTROL
BLOCK to CONTROL BLOCK. This effect can easily be
compensated for either by increasing the required
number of repeats, or setting the initial value of REPEAT
POSITION to 1.
6 NEXT
CONTROL
BLOCK R/W If set to -1 the pattern will finish when the required
number of repeats are done. Alternatively a new control
block pointer can be used to point to a further control
block.
Value Parameter R/W Description
AXIS 1
AXIS 0