EDH0162En1040 – 06/99
5.10
MM4005
Trajectory Functions Tutorial
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
Trajectory Setup Commands
AD
nn
Define the maximum allowed angle of discontinuity.
xx
AX
Assign a physical axis as X geometric axis.
xx
AY
Assign a physical axis as Y geometric axis.
FA
nn
Define the tangent angle for the first point.
NT
Start definition of a new trajectory.
5.7.2
Trajectory Elements Definition Commands
CA
nn
Define sweep angle and build an arc of circle = ƒ (CR, CA).
CR
nn
Define radius for anarc of circle = ƒ (CR, CA).
CX
nn
Define X position to reach with an arc of circle = ƒ (CX, CY).
CY
nn
Define Y position to reach and build an arc of circle = ƒ (CX, CY).
EL
Erase the last element of trajectory.
LX
nn
Define X position and build a line segment = ƒ (LX, tangent).
LY
nn
Define Y position and build a line segment = ƒ (LY, tangent).
MX
nn
Define X position for a line segment = ƒ (MX, MY).
MY
nn
Define Y position and build a line segment = ƒ (MX, MY).
5.7.3
Reporting Commands
AT
Tell the element number under execution.
xx
LT
Extended list of the trajectory.
XA
Tell the current maximum allowed angle of discontinuity.
XE
Tell the current element.
XT
Tell number of elements in the trajectory.
XU
nn
Tell the vector acceleration on trajectory (trajectory acceleration).
XV
nn
Tell the vector velocity on trajectory (trajectory velocity).
5.7.4
Trajectory Synchronization Commands
NB
nn
Set trajectory element where the generation of pulses starts.
NE
nn
Set trajectory element where the generation of pulses ends.
NI
nn
Set step (curvi-linear distance) between synchronisation pulses.
NN
nn
Set number of synchronisation pulses to generate.
NS
Allow generation of trajectory.
WI
nn
Wait for a trajectory (curvi-linear) length.
WN
nn
Wait for a element of trajectory.
5.7.5
Execution of a Trajectory
EL
Erase the last element of trajectory.
ET
Execution of trajectory.
VS
nn
Define the vector acceleration on trajectory (trajectory acceleration).
VV
nn
Define the vector velocity on trajectory (trajectory velocity).
5.7
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