Newport MM4006, User Manual

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MM4006
Trajectory Functions Tutorial
5.7 Trajectory-Specific Commands
These are the commands needed to support the contouring feature. They
are fully compatible with the general description of all other commands
and will follow the same protocol.
5.7.1 T r a j e c t o r y Setup Commands
AD nn D e f i n e the maximum allowed angle of discontinuity.
xx A X A s s i g n a physical axis as X geometric axis.
xx A Y A s s i g n a physical axis as Y geometric axis.
FA n n D e f i n e the tangent angle for the first point.
NT S t a r t definition of a new trajectory.
5.7.2 T r a j e c t o r y Elements Definition Commands
CA n n D e f i n e sweep angle and build an arc of circle = f (CR, CA).
CR nn D e f i n e radius for an arc of circle = f (CR, CA).
CX nn D e f i n e X position to reach with an arc of circle = f (CX, CY).
CY nn D e f i n e Y position to reach and build an arc of circle = f (CX, CY).
EL E r a s e the last element of trajectory.
LX n n D e f i n e X position and build a line segment = f (LX, tangent).
LY n n D e f i n e Y position and build a line segment = f (LY, tangent).
MX nn D e f i n e X position for a line segment = I (MX, MY).
MY nn D e f i n e Y position and build a line segment = f (MX, MY).
5.7.3 R e p o r t i n g Commands
AT T e l l the element number under execution.
xx L T E x t e n d e d list of the trajectory.
XA T e l l the current maximum allowed angle of discontinuity.
XE T e l l the current element.
XT T e l l number of elements in the trajectory.
XU nn T e l l the vector acceleration on trajectory (trajectory acceleration
XV nn T e l l the vector velocity on trajectory (trajectory velocity).
5.7.4 T r a j e c t o r y Synchronization Commands
NB nn S e t trajectory element where the generation of pulses starts.
NE nn S e t trajectory element where the generation of pulses ends.
NI n n S e t step (curvilinear distance) between synchronization pulses.
NN nn S e t number of synchronization pulses to generate.
NS A l l o w generation of trajectory.
WI nn W a i t for a trajectory (curvilinear) length.
WN nn W a i t for a element of trajectory.
5.7.5 E x e c u t i o n of a Trajectory
ET E x e c u t i o n of trajectory.
VS n n D e f i n e the vector acceleration on trajectory (trajectory acceleration
VV nn D e f i n e the vector velocity on trajectory (trajectory velocity).
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EDI 10181 En 1 020 — 03/03
5.1() N e v v p o r t .