Newport MM4005 - Page 133

EDH0162En1040 – 06/99 3.50
MM4005 ET — Execution of trajectory
Usage  IMM  PGM  MIP
Syntax ET, ETx or ETy
Parameters
None.
Description ET: Execute trajectory on two axis (X and Y).
ETx: Execute trajectory on axis X alone
ETy: Execute trajectory on axis Y alone.
This command first verifies all parameters and entered elements of the tra-
jectory then direct the controller to start the execution of the trajectory. If
an error occurs or the necessary conditions to the execution are not com-
plete the trajectory execution is not started and the command returns a
code of error.
NOTE
To avoid errors, the desired order of commands is:
• Preparation: NT, FA.
• Edition of trajectory: LX, LY, MX, MY, CR, CA, CX, CY, etc.
• Edition of generation of synchronisation pulses: NB, NE, NI or NN
(option).
• Set trajectory velocity and acceleration: VV, VS (option).
• Allow generation of pulses on interpolation: NS (option).
• Execution of trajectory: ET.
• Synchronisation software: WI or WN (option).
Returns
None.
Errors B — Incorrect axis number.
D — Unauthorized execution.
S — Communication time-out.
b — Trajectory is empty.
e — Trajectory: Units not translationnal or not identical.
f — Synchronization pulses generation impossible.
h — Trajectory: execution exceeds physical or logical limits.
Rel. Commands VS — Define the vector acceleration on trajectory (trajectory acceleration).
VV — Define the vector velocity on trajectory (trajectory velocity).
Example NT | Start new trajectory.
LX10 | Element 1.
CR20, CA90 | Element 2.
LY40 | Element 3.
NB2 | Set starting point of synchronisation pulses (beginning of element 2).
NE2 | Set ending point of synchronisation pulses (end of element 2).
NI0.1 | Set step: generate pulses for every (curvi-linear) trajectory step of
0.1 unit.
VV5 | Set trajectory velocity of 5 units/sec.
VS40 | Set trajectory acceleration of 40 units/sec
2
.
NS | Allow generation of pulses on interpolation.
ET | Execute trajectory.
WN2 | Wait for beginning of element 2.
1SB | Set I/O ouput port number 1.
WN3 | Wait for beginning of element 3.
1CB | Clear I/O ouput port number 1.
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