Newport ESP300 Series User Manual

HC move group along an arc
IMM PGM MIP
USAGE ♦ ♦ ♦
SYNTAX xxHCnn
1
, nn
2
, nn
3
or xxHC?
PARAMETERS
Description xx [ int ] - group number
nn
1
[ float ] - first coordinate of arc center
nn
2
[ float ] - second coordinate of arc center
nn
3
[ float ] - arc sweep angle
Range xx - 1 to MAX GROUPS
nn
1
, nn
2
- any position within the travel limits
nn
3
- any angle
Units xx - none
nn
1
, nn
2
- predefined units
nn
3
- degrees
Defaults xx missing: error 13, GROUP NUMBER MISSING
out of range: error 14, GROUP NUMBER OUT OF RANGE
not assigned: error 15, GROUP NUMBER NOT ASSIGNED
floating point: truncated
nn
i
Missing parameter: error 21, GROUP PARAMETER MISSING
DESCRIPTION This command initiates motion of a group along an arc. It causes all axes
assigned to the group to move with predefined vectorial (tangential) velocity,
acceleration and deceleration along an arc. The group target position is
determined based on the position of axes at the beginning of move, center of arc
and sweep angle.
If this command is received while a group move is in progress, the new
command gets enqueued into a “via point” buffer. Please refer to Advanced
Capabilities section for a detailed description of via point buffer implementation.
The enqueued commands get executed on a FIFO basis when the move already in
progress has reached its destination. The group does not come to a stop at the
end of last move. Instead, there will be a smooth transition to the new move
command, just as if it were one compound move (combination of multiple
moves).
Note:
Only trapezoid velocity profile is employed linear interpolation motion.
Note:
The transition from last move to new move will be smooth if tangential velocity
at the end of last move is the same as that at the beginning of new move.
3-66 Section 3 – Remote Mode

Newport ESP300 Series Specifications

General

Brand	Newport
Model	ESP300 Series
Category	Controller
Language	English