Omron TJ2-MC64 - PROGRAMMING - Page 200

BASIC commands
PROGRAMMING MANUAL 194
Revision 1.0
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3.2.284 TABLE_POINTER
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102 250
103 370
104 470
105 530
106 550
Example The following line will print the value at location 1000.
>> PRINT TABLE(1000)
See also CAM, CAMBOX, DEL, NEW, SCOPE, TSIZE, VR.
Type Axis parameter (read only)
Syntax value = TABLE_POINTER
Description Using the TABLE_POINTER parameter it is possible to determine which
TABLE memory location is currently being used by the CAM allowing the user
to load new CAM data into previously processed TABLE location ready for the
next CAM cycle. This is ideal for allowing a technician to finely tune a complex
process, or changing recipes on the fly whilst running. TABLE_POINTER
returns the current table location that the CAM function is using. The returned
number contains the table location and divides up the interpolated distance
between the current and next TABLE location to indicate exact location.
Arguments N/A
Example In this example a CAM profile is loaded into TABLE location 1000 and is setup
on axis 0 and is linked to a master axis 1. A copy of the CAM table is added at
location 100. The Analogue input is then read and the CAM TABLE value is
updated when the table pointer is on the next value.
Table entry Value
'CAM Pointer demo
' store the live table points
TABLE(1000,0,0.8808,6.5485,19.5501,39.001,60.999,80.4499,93.4515)
TABLE(1008,99.1192,100)
' Store another copy of original points
TABLE(100,0,0.8808,6.5485,19.5501,39.001,60.999,80.4499,93.4515)
TABLE(108,99.1192,100)
' Initialise axes
BASE(0)
WDOG=ON
SERVO=ON
' Set up CAM
CAMBOX(1000,1009,10,100,1, 4, 0)
'Start Master axis
BASE(1)
SERVO=ON
SPEED=10
FORWARD
'Read Analog input and scale CAM based on input
pointer=0
WHILE 1
'Read Analog Input (Answer 0-10)
scale=AIN(32)*0.01
'Detects change in table pointer
IF INT(TABLE_POINTER)<>pointer THEN
pointer=INT(TABLE_POINTER)
'First value so update last value
IF pointer=1000 THEN
TABLE(1008,(TABLE(108)*scale))
'Second Value, so must update First & Last but 1 value
ELSEIF pointer=1001 THEN
TABLE(1000,(TABLE(100)*scale))
TABLE(1009,(TABLE(109)*scale))
'Update previous value
ELSE
TABLE(pointer-1, (TABLE(pointer-901)*scale))
ENDIF
ENDIF
WEND