BASIC commands
PROGRAMMING MANUAL 55
Revision 3.0
3.2.42 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 2 to 64000. Being able to specify
the start point allows the TABLE array to be used to hold more than one pro-
file and/or other information. The TJ1-MC__ moves continuously between the
values 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.
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.
Arguments • start_point
The address of the first element in the TABLE array to be used.
• end_point
The address of the end element in the TABLE array.
• table_multiplier
The Table multiplier value used to scale the values stored in the TABLE.
As the TABLE values are specified in encoder edges, use this argument
to set the values for instance to the unit conversion factor (set by UNITS
parameter).
• link_distance
The distance in user units the link axis must move to complete the speci-
fied output movement. The link distance must be specified as a positive
distance.
• link_axis
The axis to link to.
• link_option
See the table below.
• link_position
The absolute position where CAMBOX will start when link_option is set
to 2.
Example No example.
See also • AXIS, CAM, REP_OPTION, TABLE
link_option value Description
1 Link starts when registration event occurs on link axis.
2 Link starts at an absolute position on link axis (see link_position).
4
CAMBOX repeats automatically and bidirectionally. This option is can-
celled 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.
I52E-EN-03.book Seite 55 Freitag, 29. Juni 2007 11:55 11
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