Newport ESP300 Series, User Manual

Page: 180 / 314

TJ
set trajectory mode
IMM PGM MIP
USAGE
♦ ♦
SYNTAX xx TJ nn or xx TJ ?
PARAMETERS
Description xx [ int ] - axis number
nn [ int ] - home mode
Range
xx - 1 to MAX AXES
nn - 1 to 6 where
1 = trapezoidal mode
2 = s-curve mode
3 = jog mode
4 = slave to master’s desired position (trajectory)
5 = slave to master’s actual position (feedback)
6 = slave to master’s actual velocity for jogging
Units xx - none
nn - none
Defaults xx missing: error 37, AXIS NUMBER MISSING
out of range: error 9, AXIS NUMBER OUT OF RANGE
nn missing: error 38, COMMAND PARAMETER MISSING
out of range: error xx2, PARAMETER OUT OF RANGE
during motion: error xx26, PARAMETER CHANGE NOT ALLOWED
DURING MOTION
DESCRIPTION This command sets the trajectory mode nn on the axis specified by xx.
Changing trajectory during motion is not allowed. Change trajectory mode only
when the axis is not moving.
If the requested axis is member of a group, the controller returns error xx31,
“COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT”.
For a detailed description of motion profiles see the
Motion Control Tutorial
section.
RETURNS If the “?” sign takes the place of nn value, this command reports the current
setting
REL. COMMANDS
JK - set s-curve jerk rate
GR - set master/slave gear ratio
EXAMPLE 1TJ? | report current trajectory mode setting on axis #1
1 | controller returns trajectory mode 1 (trapezoidal) for axis #1
1TJ2 | set trajectory mode on axis #1 to 2 (s-curve)
3-140 Section 3 – Remote Mode