Trio Motion Coordinator Euro 205, Техническое справочное руководство

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Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-19
Motion and Axis Commands
CAMBOX
Type:
Axis Command
Syntax:
CAMBOX(start point, end point, table multiplier, link distance ,
link axis<,link options><, link pos>)
Description: The
CAMBOX
command is used to generate movement of an axis according to a table
of POSITIONS which define the movement profile. The motion is linked to the meas-
ured motion of another axis to form a continuously variable software gearbox. The
table of values is specified with the
TABLE
command. The movement may be
defined with any number of points from 2 to 16000 (8000 on MC202). The controller
interpolates between the values in the table to allow small numbers of points to
define a smooth profile.
Parameters:
start point:
The cam table may be used to hold several profiles and/or
other information. To allow freedom of use each command
specifies where to start in the table.
end point:
Specifies end of values in table. Note that 2 or more
CAMBOX
commands executing simultaneously can use the same values
in the table.
table
multiplier:
The table values are absolute positions from the start of the
motion and are specified in encoder edges units. The table
multiplier may be set to any value to scale the values in the
table.
link
distance:
The link distance specifies the distance the link axis must
move to complete the specified output movement. The link
distance is in the user units of the link axis and should always
be specified as a positive distance.
link axis:
This parameter specifies the axis to link to. It should be set to
0..7 (MC206), 0..15 (MC216), 0..7 (Euro205), 0..2 (MC202)