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All BASIC commands
Section 4-2
111
/i
/i
4
CAMBOX
repeats automatically and bidirectionally. This option is
cancelled by setting bit 1 of
REP_OPTION
parameter
(
REP_OPTION = REP_OPTION OR 2
).
5
Combination of options 1 and 4.
6
Combination of options 2 and 4.
•
link_position
The absolute position where
CAMBOX
will start when
link_option
is set to 2.
Note: When the
CAMBOX
command is executing, the
ENDMOVE
parameter is set to the end of the previous move. The
REMAIN
axis
parameter holds the remainder of the distance on the link axis.
Example
' Subroutine to generate a SIN shape speed profile
' Uses: p is loop counter
' num_p is number of points stored in tables pos 0..num_p
' scale is distance travelled scale factor
profile_gen:
num_p=30
scale=2000
FOR p=0 TO num_p
TABLE(p,((-SIN(PI*2*p/num_p)/(PI*2))+p/num_p)*scale)
NEXT p
RETURN
This graph plots TABLE contents against table array position. This cor-
responds to motor POSITION against link POSITION when called using
CAMBOX
. The
SPEED
of the motor will correspond to the derivative of
the position curve above.
link_option
value
Description
Содержание SYSMAC CJ Series
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