PMX-4EX-SA Manual
page 34
Rev 3.11
The PMX-4EX-SA can perform positional moves in absolute or incremental
mode. For absolute mode, the
ABS
command should be used and, for
incremental mode, the
INC
command should be used. These commands should
be sent before the move command is issued. The move mode will remain in
absolute or incremental mode until it is changed.
In absolute mode, the axis will move by the specified target position. In
incremental mode, the axis will increase or decrease its current position by the
specified target position.
The motor status described in section 6.15 can be used to determine which move
mode is active.
6.8.1. Individual Position Moves
For individual axis control use
X
,
Y
,
Z
and
U
commands followed by the target
position value. For example, the
X1000
command will move the X-axis to
position 1000 if performed in absolute mode.
6.8.2. Interpolated Position Moves
The PMX-4EX-SA can perform interpolated motion for up to 4 axis. A single
move command will use the
X
,
Y
,
Z
, and
U
commands and can consist of up to 4
target positions (one for each axis). At least two axis must be referenced in order
to perform linear interpolation.
For example, the
X1000Y1000Z100U800
will move all for axis to position
(1000,1000,100,800). Additionally the
X1000Y-1000Z500
will move the X, Y, and
Z axis to position (1000,-1000,500) while the U axis remains idle.
ASCII
X[target] Y[target] Z[target] U[target]
Standalone
X[target] Y[target] Z[target] U[target]
6.9. On-The-Fly Target Position Change
On-the-fly target position change can be achieved using the
T[axis][value]
command. While the motor is moving,
T[axis][value]
will change the final
destination of the motor. If the motor has already passed the new target position,
it will reverse direction once the target position change command is issued.
An on-the-fly target position change command will only be valid if the specified
axis is performing in individual position move.
6.10. Circular Interpolation Moves
PMX-4EX-SA supports circular interpolation moves using the
CIRP
and
CIRN
commands. This will perform a complete 360° circle using the X and Y axis. The
Z and U axis are not supported for circular interpolation.
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