Newport ESP300 Series, User Manual

Page: 217 / 314

4.1.3.1 Making Linear Move
Once a group has been defined and all group parameters have been
specified, the ASCII command
HL is used to move the group from an
initial position to a final position along the line. The current position
of axes is the initial position of linear move. The desired final position
is specified along with this command.
This command makes all axes assigned to the group move with
predefined group 9tangential) velocity, acceleration and deceleration
along a line. A trapezoidal velocity profile is employed when group
jerk is set to zero. Otherwise, an S-curve velocity profile is employed.
The linear move is a true linear interpolation, meaning:
) (
) (
) ( ) (
0
0
0 0
x x
y y
m
x x m y y
f
f
−
−
=
− = −
where: X
0
and Y
0
represent initial position of the group.
X
f
and Y
f
represent desired final position of the group.
4.1.3.2 Making Circular Move
Once a group has been defined and all group parameters have been
specified, the ASCII command
HC can be used to move the group
from an initial position to a final position along a circle. The current
position of axes is the initial position of circular move. The final
position of move is calculated based on the desired center of circle
and sweep angle specified along with this command. All sweep angles
are measured in degrees. The sign of angles follow the trigonometric
convention: positive angles are measured counterclockwise.
This command makes all axes assigned to the group move with
predefined group (tangential) velocity, acceleration and deceleration
along a circle. A trapezoid velocity profile is employed to produce the
desired motion.
The circular move is a true arc of a circle, meaning:
Section 4 – Advanced Capabilities 4-3