Specifications

Examples and tips
PROGRAMMING MANUAL 286
Revision 5.0
WAIT UNTIL IN(start_signal)=0
WAIT UNTIL IN(start_signal)=1
'Move bag length
MOVEABS(bag_distance)
WAIT UNTIL MTYPE=2 'To verify that the MOVEABS is being
executed
'If we work with Mark, activate the trigger
'MARK=FALSE when triggered and TRUE when not triggered
IF work_with_mark AND MARK THEN
REGIST(1)
WAIT UNTIL MARK=0
ENDIF
'Wait until movement finished or mark detected
WAIT UNTIL MTYPE=0 OR (MARK AND work_with_mark)
'Working with mark
IF work_with_mark THEN
IF MARK THEN 'If the mark has been detected, the
position is corrected
MOVEMODIFY(bag_distance-expected_pos+REG_POS)
failed=0
ELSE 'If the mark has not been detected
PRINT "Mark not detected"
failed=failed+1
IF failed>max_fail THEN 'After several consecutive
misdetection stop the application
PRINT "Mark definitelly lost"
program_alarm=3
STOP
ENDIF
ENDIF
ENDIF
'Wait until the feed movement has finished
WAIT IDLE
GOTO loop
5.2.7 CAM table inside a program
It shows how to create a CAM table inside a program, and use the CAMBOX
motion command.
The profile used is the COS square one. This is a quite typical profile for
feeder-type applications as:
• The motion provides a smooth acceleration without sudden acceleration
changes, so the material slip is minimized
• It gives a fast deceleration so the cycle time is reduced. During
deceleration there is no material slip and the friction helps to the stop to
zero.