BASIC commands
PROGRAMMING MANUAL
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3.2.47 CAMBOX
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Type
Axis command
Syntax
CAMBOX(start_point, end_point, table_multiplier, link_distance,
link_axis [ , link_option [ , link_position ]])
Description
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 meas-
ured motion of another axis to form a continuously variable software gearbox.
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 3 to the maximum table size avail-
able (500000). 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 TJ2-
MC64 moves continuously between the values in the TABLE to allow a
number of points to define a smooth profile. Two or more
CAMBOX
com-
mands can be executed simultaneously using the same or overlapping values
in the TABLE array.
Note 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.
Note: While
CAMBOX
is being executed, the
ENDMOVE
parameter will be
set to the end of the previous move. The
REMAIN
axis parameter will hold the
remainder of the distance on the link axis.