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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