6.7
EDH0162En1040 – 06/99
MM4005
Feature Descriptions Tutorial
WN2,
VV10
| Starting with element #2 set velocity to 10 mm/sec.
WN4,
VV5
|
Starting with element #4 set velocity to 5 mm/sec.
QP
| End program entry mode.
1SM
| Save program in non-volatile RAM.
1EX
| Execute program #1.
6.1.4
Synchronizing Events to Trajectory Position
Controller operations and functions can also be synchronized to the trajec-
tory position. This is achieved by using the WInn command.
Here, nn represents the trajectory position to synchronize with. When the
trajectory length executed reaches the value specified by nn, one or more
secondary controller activities could be initiated.
Example
Increase the trajectory velocity when the trajectory reaches position 5 and
reduce the velocity when it reaches position 24.
2XX
| Erase program #2 (if exists).
2EP
| Start program entry mode.
NT
| Start new trajectory definition.
LX10
| Trajectory element #1.
CR10, CA90
| Trajectory element #2.
LY20
| Trajectory element #3.
CX10, CY30
| Trajectory element #4.
LX0
| Trajectory element #5.
CX0, CY0
| Trajectory element #6.
VV5
| Set trajectory velocity to 5 mm/sec.
ET
| Execute
trajectory.
WI5,
VV10
|
Starting with trajectory position 5 set velocity to 10 mm/sec.
WI24,
VV5
|
Starting with trajectory position 24 set velocity to 5 mm/sec.
QP
|
End program entry mode.
2SM
|
Save program in non-volatile RAM.
2EX
| Execute program #2.
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