Newport MM4006, User Manual

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MM4006 T r a j e c t o r y Functions Tutorial
• W h e n defining a trajectory, start by assigning the two motion axes t o
the X and Y coordinates. These axis can still be used when the trajecto-
ry is not executing.
NT I S t a r t new trajectory definition.
2AX I A s s i g n axis #2 to the X coordinate.
4AY I A s s i g n axis #4 to the Y coordinate.
I D e f i n e trajectory.
• • •
xxPAnn I M o v e axis #2 to absolute position 10.
ET I Execute trajectory.
• B e f o r e executing a trajectory, the controller verifies, among other
things, i f the defined geometry will cause, at any time, any axes t o
exceed the individual maximum allowed velocities or accelerations. If
so, it will calculate the highest acceptable vector velocity and use it dur-
ing the execution. The actual vector velocity that will be used can be
queried remotely.
NT I S t a r t new trajectory definition.
W 2 0 I S e t vector velocity to 20 units/sec.
Define trajectory.
• • •
ET I Execute trajectory.
XV I R e a d actual vector velocity in use.
XV12.736 I Controller returns actual vector velocity used.
• O n l y one trajectory can be defined and be active at a time. NT command
erases any old trajectory and starts defining a new one. Any new trajec-
tory-specific command will be added or affect the existing defined tra-
jectory and will be active at the next execution.
5.6 Trajectory Element Parameters
Both line and arc parameters can be entered using different commands.
Most differences are in t h e type and number of parameters used t o
describe one trajectory element. Many commands require only the mini-
mum number of commands that geometrically define one element.
The controller always calculates and keeps track of all element parameters.
Using the LT command, the complete set of trajectory element parameters
can be listed. This is an excellent tool in developing and debugging com-
plex trajectories.
n i e v v p o r t 5 . 9 E D H 0 1 8 1 En I 020 — 03/03