EDH0162En1040 – 06/99 5.8
MM4005 Trajectory Functions Tutorial
Programming a Trajectory
The following list describes the few rules that govern the trajectory pro-
gramming process and gives some examples:
• A trajectory must be first defined and then executed.
NT | Start new trajectory definition.
… | Define trajectory.
… |
ET | Execute trajectory.
• Trajectory definition commands and other controller commands can be
intermixed. Even though the controller will extract the appropriate com-
mands to build the trajectory, for the clarity of the program this prac-
tice is not recommended.
NT | Start new trajectory definition.
… | Define trajectory.
… |
… | Other commands.
… |
… | Define trajectory.
… |
… | Other commands.
… |
ET | Execute trajectory.
• A trajectory can be defined once and executed any number of times. To
allow this feature, all trajectories are defined relative to the starting
point.
NT | Start new trajectory definition.
… | Define trajectory.
… |
ET | Execute trajectory.
… |
xxPAnn | Move to new trajectory start location.
ET | Execute trajectory.
• During the trajectory execution, the designated axes are unavailable for
point-to-point commands.
• Once a trajectory is defined, it can be edited by deleting the last element
and inserting or appending new elements.
NT | Start new trajectory definition.
… | Define trajectory.
… |
ET | Execute trajectory.
… |
EL | Erase last trajectory element..
LXnn | Add new trajectory element (line to nn).
xxPAnn | Move to new trajectory start location.
ET | Execute same trajectory at new location.
5.5
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