EDH0162En1040 – 06/99 3.12
MM4005 Remote Mode
3.4.1.15 Commands to execute a trajectory
ET Execution of trajectory 
VS nn Define the vector acceleration on trajectory
(trajectory acceleration)

VV nn Define the vector velocity on trajectory (trajectory velocity) 
WI nn Wait for a trajectory (curvi-linear) length 
WN nn Wait for a element of trajectory 
3.4.1.16 Commands to help geometric definition of a trajectory
AT Tell the element number under execution 
xx LT Extended list of the trajectory 
XA Tell the current maximum allowed angle of discontinuity 
XE Tell the last element 
XT Tell number of elements in the trajectory 
XU nn Tell the vector acceleration on trajectory
(trajectory acceleration)

XV nn Tell the vector velocity on trajectory (trajectory velocity) 
3.4.1.17 Master-slave mode definition
xx FF nn Set maximum master-slave following error 
xx GR nn Set master-slave reduction ratio 
xx SS np Set master-slave mode 
3.4.1.18 Trace mode on trajectory
NB nn Set trajectory element where the generation
of pulses starts

NE nn Set trajectory element where the generation
of pulses ends

NI nn Set step (curvi-linear distance) between
synchronisation pulses

NN nn Set number of synchronisation pulses to generate 
NS Allow generation of pulses on interpolation 
Command Description IMM PGM MIP
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