124
Command, function and parameter description Section 6-3
CAM(1,19,1,200)
GOTO loop
Note The subroutine
camtable
would load the data below into the Table array.
6-3-33 CAMBOX
Type: Motion Control 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 mea-
sured motion of another axis to form a continuously variable software gear-
box. 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 2 to 8.000. 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 MC Unit moves continuously between the val-
ues in the Table to allow a number of points to define a smooth profile. Two or
more CAMBOX commands can be executed simultaneously using the same
or overlapping values in the Table array.
The CAMBOX command requires the start element of the Table to have
value zero. Note also 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.
Arguments:
start_point
The address of the first element in the Table array to be used.
Table
position
Degree Value
100
2 20 1103
3 40 3340
4 60 6500
5 80 10263
6 100 14236
7 120 18000
8 140 21160
9 160 23396
10 180 24500
11 200 24396
12 220 23160
13 240 21000
14 260 18236
15 280 15263
16 300 12500
17 320 10340
18 340 9103
19 360 9000
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