HQ wait for group command buffer level
IMM PGM MIP
USAGE ♦ ♦ ♦
SYNTAX xxHQnn or xxHQ?
PARAMETERS
Description xx [ int ] - group number
nn [ float ] - level in group via point buffer
Range xx - 1 to MAX GROUPS
nn - to 10 (default for maximum targets in via point buffer)
Units xx - none
nn - milliseconds
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
Missing parameter: error 21, GROUP PARAMETER MISSING
DESCRIPTION This command stops enqueuing new commands into the via point buffer until the
buffer level equals nn. As commands in the buffer get executed on a FIFO basis
and the buffer level equals nn, commands issued subsequent to this one get
executed.
RETURNS If “?” sign takes the place of nn value, the controller returns the room available
in via point buffer for more commands.
REL. COMMANDS HN - create a new group
HL - move group to target position along a line
HC - move group to target position along an arc
EXAMPLE 1HN1,2 | create a new group (#1) with physical axes 1 and 2
1HV10 | set vectorial velocity of group #1 to 10 units/second
1HA50 | set vectorial acceleration of group #1 to 50 units/second
2
1HD50 | set vectorial deceleration of group #1 to 50 units/second
2
1HO | enable group #1
1HL10,10 | move group #1 to target pos. 10,10 (ax. #1 = 10, #2 = 10 units)
1HL20,20 | move group #1 to target pos. 20,20 (ax. #1 = 20, #2 = 20 units).
| This command gets enqueued in the via point buffer if it was
| received prior completion of the previous move command.
1HL50,50 | move group #1 to target pos. 50,50 (ax. #1 = 50, #2 = 50 units).
1HQ10 | wait until the via point buffer level equals 10 commands
1HC40,60,180 | move group #1 along an arc with center of arc at (40,60) units,
| by a sweep angle of 180 deg. from current position.
Section 3 – Remote Mode 3-79
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