Omron TJ2-MC64 - PROGRAMMING - Page 135

BASIC commands
PROGRAMMING MANUAL 129
Revision 1.0
fig. 32/i
r3
Example The command sequence follows a rounded rectangle path with axis 1 and 2.
Axis 3 is the tool rotation so that the tool is always perpendicular to the prod-
uct. The UNITS for axis 3 are set such that the axis is calibrated in degrees.
REP_DIST AXIS(3)=360
REP_OPTION AXIS(3)=ON
' all 3 axes must be homed before starting
MERGE=ON
MOVEABS(360) AXIS(3) point axis 3 in correct starting direction
WAIT IDLE AXIS(3)
MOVE(0,12)
MHELICAL(3,3,3,0,1,90)
MOVE(16,0)
MHELICAL(3,-3,0,-3,1,90)
MOVE(0,-6)
MHELICAL(-3,-3,-3,0,1,90)
MOVE(-2,0)
MHELICAL(-3,3,0,3,1,90)