Specifications

Examples and tips
PROGRAMMING MANUAL 264
Revision 5.0
where x
0
is the position of the master AXIS(0), and x
1
is the position of the
slave AXIS(1). You can link the two axis with the CAMBOX command. For
more details, refer to section 3.2.45. Suppose furthermore that the
parameter end_pos is not constant, but it can change due to different
conditions of the motion system. The part of the program that creates the
CAM table is:
'Initial CAM values
VR(end_pos)=15
current_end_pos=VR(end_pos)
FOR i=0 TO 999
TABLE(i, VR(end_pos)*(1-COS(2*PI*i/999))/2)
NEXT i
...
loop:
IF VR(end_pos)<>current_end_pos THEN
'Recalculate the CAM Table
FOR i=0 TO 999
TABLE(i, VR(end_pos)*(1-COS(2*PI*i/999))/2)
NEXT i
current_end_pos=VR(end_pos)
ENDIF
...
GOTO loop
The VR(end_pos) value can be changed from some other program or
externally from another controller using FINS messaging. In this case, the
CAM table must be recalculated.
The creation of the CAM table is complete. The initialization of the desired
axis and system parameters for tracing is:
'Initializations
FOR i=0 TO 1
BASE(i)
ATYPE=40
UNITS=8192
REP_DIST=20
REP_OPTION=1
FE_LIMIT=1
DRIVE_CONTROL=11
SPEED=8
ACCEL=50
DECEL=50
DEFPOS(0)
SERVO=ON
CANCEL
NEXT i
WDOG=ON
BASE(1)
'Scope settings:
'1 sample each 2 servo cycles
'Information stored in TABLE(1000) to TABLE(4999)
'Because we capture 4 channels, we have 1000 samples per
channel.
'MPOS AXIS(0) is stored in TABLE(1000) to TABLE(1999)
'DPOS AXIS(1) is stored in TABLE(2000) to TABLE(2999)
'Torque reference for AXIS(1) is stored in
'TABLE(3000) to TABLE(3999)
'MSPEED AXIS(1) is stored in TABLE(4000) to TABLE(4999)
'The capture covers 1000 samples * 2ms / sample = 2seconds
SCOPE(ON,2,1000,4999,MPOS AXIS(0),DPOS,DRIVE_MONITOR,MSPEED)
FORWARD AXIS(0) 'Move the master axis forward
TRIGGER 'Start tracing and storing of parameters
WHILE NOT MOTION_ERROR
'Cambox that will start in AXIS(0) position 1
CAMBOX(0,999,UNITS,10,0,2,1)
WAIT UNTIL MPOS AXIS(0)<1
'The capture will start when the master axis is in
'a position Between 0 and 1. Additional conditions
'are:
'- The previous capture has finished
'(SCOPE_POS=1000)
'- We have the permission (VR(activate_trigger)=ON)
IF SCOPE_POS=1000 AND VR(activate_trigger)=ON THEN