Newport MM4006, User Manual

Page: 343 / 411

MM4006
Trajectory Functions Tutorial
5.5 Programing a Trajectory
The following list describes t h e few rules t h a t govern t h e trajectory
Programing process and gives some examples:
• A trajectory must be first defined and then executed.
NT I S t a r t new trajectory definition.
I D e f i n e trajectory.
ET I Execute trajectory.
• Tr a j e c t o r y definition commands and other controller commands can be
intermixed. Even though the controller will extract the appropriate com-
mands to build the trajectory, for the clarity of the program this prac-
tice is not recommended.
NT I S t a r t new trajectory definition.
I D e f i n e trajectory.
Other commands.
I D e f i n e trajectory.
I O t h e r commands.
ET I Execute trajectory.
• A trajectory can be defined once and executed any number of times. To
allow this feature, all trajectories are defined relative to the starting
point.
NT I S t a r t new trajectory definition.
• • • I D e f i n e trajectory.
• • •
ET I Execute trajectory.
xxPAnn I M o v e to new trajectory start location.
ET I Execute trajectory.
• D u r i n g the trajectory execution, the designated axes are unavailable for
point-to-point commands.
• O n c e a trajectory is defined, it can be edited by deleting the last element
and inserting or appending new elements.
NT I S t a r t new trajectory definition.
I D e f i n e trajectory.
•--
ET I Execute trajectory.
EL I E r a s e last trajectory element.
LXnn I A d d new trajectory element (line to nn).
xxPAnn I M o v e to new trajectory start location.
ET I Execute same trajectory at new location.
EDH0181En1020 — 03/03
5.8 N e v v p O r t .