Newport ESP300 Series, User Manual

Page: 215 / 314

Section 4 – Advanced Capabilities
4.1 Grouping
4.1.1 Introduction – Advanced Capabilities
Coordinated motion of multiple axes is required to produce a desired
contour in a multi-dimensional space. For instance, if we want to
move from one point to another along a line or along a circle, or a
combination of both line and circle, we require coordinated motion of
multiple axes. One way to facilitate such coordinated motion is
"grouping" the axes involved in producing the desired motion. This
is akin to defining the coordinate system in which the desired contour
is being made.
Coordinated motion on a 2-D plane, therefore, requires a group
comprised of any two axes, while a similar motion in a 3-D space
requires a group consisting of any three axes. For sake of simplicity,
all further discussion of coordinated motion will be restricted to a 2-D
plane.
The procedure for defining a group and all the group parameters
required for making coordinated motion is described in Section 4.1.3
discusses the commands that actually make the coordinated motion.
The procedure for making "long" moves or contours that involve a
combination of circular and linear moves is described in Section 4.1.4.
Miscellaneous grouping commands are discussed in Section 4.1.5.
4.1.2 Defining a Group and Group Parameters
This subsection discusses the method for defining a group and all the
group parameters.
4.1.2.1 Creating a Group
The ASCII command used to create a new group is HN. For instance,
the command 1HN2, 3 assigns axis numbers 2 and 3 to group number
1. One such group must be defined first before those axes can be
moved in a coordinated fashion. A group can comprise of axes
anywhere from one to six.
Section 4 – Advanced Capabilities 4-1