MM4005
Table of Contents
v
EDH0162En1040 – 06/99
Section 5 — Trajectory Functions Tutorial
Table of Contents ...................................................................................5.1
5.1
Definition of Terms ................................................................................5.3
5.1.1 Trajectory.....................................................................................5.3
5.1.2 Trajectory Element .....................................................................5.3
5.1.3 Trajectory Vector........................................................................5.3
5.1.4 Vector Velocity ............................................................................5.3
5.1.5 Vector Acceleration ....................................................................5.3
5.2
Trajectory Description and Conventions............................................5.4
5.3
Geometric Conventions.........................................................................5.4
5.4
Defining Trajectory Elements ...............................................................5.5
5.4.1 Defining Lines ..............................................................................5.6
5.4.2 Defining Arcs................................................................................5.6
5.5
Programming a Trajectory....................................................................5.8
5.6
Trajectory Element Parameters ...........................................................5.9
5.7
Trajectory-Specific Commands ..........................................................5.10
5.7.1 Trajectory Setup Commands ...................................................5.10
5.7.2 Trajectory Elements Definition Commands...........................5.10
5.7.3 Reporting Commands ...............................................................5.10
5.7.4 Trajectory Synchronization Commands ................................5.10
5.7.5 Execution of a Trajectory.........................................................5.10
Section 6 — Feature Descriptions Tutorial
Table of Contents ...................................................................................6.1
6.1
Synchronizing Events to Motion ..........................................................6.3
6.1.1 Pulses Synchronized to One Axis..............................................6.3
6.1.2 Pulses Synchronized to a Trajectory........................................6.5
6.1.3 Synchronizing Events to Trajectory Elements ........................6.6
6.1.4 Synchronizing Events to Trajectory Position ..........................6.7
6.2
Synchronized Axes (Electronic Gearing) ............................................6.8
6.3
Automatic Program Execution on Power-On: EO Command or from
the Front Panel .......................................................................................6.9
6.4
Continuous Motion: MV Command......................................................6.9
6.5
Automatic Displacement Units Change: SN Command or from the
Front Panel ............................................................................................6.10
6.6
Stage Type Selection: SF Command or from the Front Panel .........6.11
6.7
Reading parameters with “?” ..............................................................6.11
6.8
Error Reporting: TD Command ..........................................................6.13
6.9
Integral Gain Saturation Limit: KS Command ...................................6.13
6.10 Program Editing: EP Command ..........................................................6.13
6.11 Firmware Updates ................................................................................6.13
6.12 Joystick..................................................................................................6.14
6.13 Changing the Display Precision: NP Command or from the Front Panel
................................................................................................................6.15
6.14 Periodic Display Mode: CD Command or from the Front Panel.....6.15
6.15 “$” Parameter........................................................................................6.16
6.16 Asynchronous Acquisition: AQ Command .......................................6.17
6.17 Executing Sub-Routines in a Program: EX Command ......................6.18
6.18 Load Communications Mode: CM Command ...................................6.19
6.19 Analog Input/Output: AM, RA, YO, YR Commands ..........................6.19
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