Newport MM4006, User Manual

Page: 117 / 411

MM4006 R e m o t e Mode
Command
Description I M M l ' G M M I P C o m m a n d
CI' [nn]
xx D L
[xx] I E n n
xx J I .
KC
[xx] OE n n
RP [nn)
RQ n n
[xx] U } l
[xx] U L
WA [nn]
WE
xx W F
xx W G [nnj
xx W H [iin]
WK [aa]
xx W L [nn)
xx W P n n
[xx] WS [nn]
WT [nn]
xx W Y [nn]
xx Y E [nn]
xx Y G [nn]
xx Y L [ n n ]
xx Y N [nn)
xx Y W
xx A S n n
xx C S n n
xx Y A [nn]
xx Y B
xx Y C n n
xx Y D n n
xx Y F n n
xx Y K
xx Y M n n
xx Y P n n
xx Y Q n n
xx Y S [ n n ]
xx Y V
xx Y Y n n
xx D S [nn]
xx D Y n n
xx F B [aa]
FC
FT)
xx N P n n
RD
RE
ED n n
[xx] MS
TB [aa]
TD
TE
TS
xx T S
TX
TX1
VE
Flow control and sequencing
Read or set the controller time
Define label
If I/O input is equal
Jump to label
Abort command line
Test I/O output
Repeat command line
(itinerate service request (SRO)
Wait for I/O high
Wait for I/O low
Wait
End While loop
Wait for function key
While variable is greater
While I/O input is equal
Wait for key
While variable is less
Wait for position
Wait for motion stop
Wait
While variable is different
If variable is equal
If variable is greater
If variable is less
If variable is different
Wait and react key
Variable manipulation
Affect string
Concatenate two strings
Add t o variable
Negate variable
Add variables
Divide variables
Scale variable
Read key to variable
Multiply variables
Set theoretical position in variable
Set current position in variable
Initialize variable
Read value from keyboard in a variable
Copy variable
Display functions
Display strings on screen
Display a variable
Label function key
Clear function key line
Display function keys
Set decimal digits number
of position display
Disable display refresh
Enable display refresh
Status functions
Display program error
Read motor status
Read error message
Read error line of program
Read error code
Read controller status
Read axis extended status
Read controller activity
Read controller extended status
Read controller version
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I I
■
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I I
•
•
•
•
■
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■
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■
•
•
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Description 1 M M P G M M I P
AD m u
xx A X
xx A Y
• C A n n
CR n n
CX n n
CY n n
EL
FA n n
LX n n
LY n n
MX n n
MY n n
NT
ET
VS n n
VV n n
AT
xx L T
XA
XE
XT
XU n n
XV n n
Commands to define a trajectory
Define the IllaNi11111111 allowed angle
of discontinuity
■
•
Assign a physical axis as X geometric axis • •
Assign a physical axis as Y geometric axis •
■
Define sweep angle and build an
arc of circle - .1 (CR, CA)
■
•
Define radius for an
arc of circle f (CR, CA)
• •
Define X position to reach with an
arc of circle = f (CX, CY) •
Define 1' position to reach and build an
arc of circle ri f (CX, CY)
Erase the last element of trajectory •
Define the tangent angle
for the first point
■
Define X position and build a
line segment = f (LX, tangent)
■
Define Y position and build a
line segment = f (LY, tangent)
•
Define X position for a
line segment = f (MX. MY)
•
Define Y position and build a
line segment
= I (MX. MY) •
Start definition of a new trajectory •
Commands to execute a trajectory
Execution of trajectory •
Define the vector acceleration
on trajectory (trajectory acceleration) •
Define the vector velocity
on trajectory (trajectory velocity)
■
jectory Commands to help geometric definition of a t r a
Tell the element number under execution •
Extended list of the trajectory •
Tell the current maximum allowed angle
of discontinuity
■
Tell the last element •
Tell number of elements in the trajectory •
Tell the vector acceleration on trajectory
(trajectory acceleration) •
Tell the vector velocity on trajectory
(trajectory velocity)
■
Master-slave mode definition
xx F F n n S e t maximum master-slave following error
■
xx G R n n S e t master-slave reduction ratio •
xx S S n p S e t master-slave mode •
NB n n
NE n n
NI n n
NN n n
NS
WI n n
WN n n
Trace mode on trajectory
Set trajectory element
where the generation of pulses starts
•
Set trajectory element
where the generation of pulses ends
•
Set step (curvilinear distance) between
Synchronization pulses
•
Set number of synchronization pulses
to generate
•
Allow generation of pulses
on interpolation
Wait for a trajectory (curvilinear) length E
Wait for a element of trajectory L i
I
• I l
• I i
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C i
•
• ❑
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0
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• 0
• 0
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I I
1 I
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• L l
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FT]
• I C I
( A )
ED110181En 1020 — 03/03
3.20 N e w p o r t .