BASIC commands
PROGRAMMING MANUAL 128
Revision 1.0
3.2.186 MERGE
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3.2.187 MHELICAL
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Type Axis parameter
Syntax MERGE
Description The MERGE parameter is a software switch that can be used to enable or
disable the merging of consecutive moves. When MERGE is ON and the next
move already in the next move buffer (NTYPE), the axis will not ramp down to
0 speed but will load up the following move enabling a seamless merge. The
default setting of MERGE is OFF.
It is up to the programmer to ensure that merging is sensible. For example,
merging a forward move with a reverse move will cause an attempted instan-
taneous change of direction.
MERGE will only function if the following are all true:
1. Only the speed profiled moves MOVE, MOVEABS, MOVECIRC,
MHELICAL, REVERSE, FORWARD and MOVEMODIFY can be merged
with each other. They cannot be merged with linked moves CONNECT,
MOVELINK and CAMBOX.
2. There is a move in the next move buffer (NTYPE).
3. The axis group does not change for multi-axis moves.
When merging multi-axis moves, only the base axis MERGE axis parameter
needs to be set.
Note: If the moves are short, a high deceleration rate must be set to avoid the
TJ2-MC64 decelerating in anticipation of the end of the buffered move.
Arguments N/A
Example MERGE = OFF ' Decelerate at the end of each move
MERGE = ON ' Moves will be merged if possible
See also AXIS.
Type Axis command
Syntax MHELICAL(end1, end2, centre1, centre2, direction, distance3 [,mode]))
MH(end1, end2, centre1, centre2, direction, distance3 [,mode])
Description Performs a helical move, that is, moves 2 orthogonal axes in such a way as to
produce a circular arc at the tool point with a simultaneous linear move on a
third axis. The first 5 parameters are similar to those of a MOVECIRC com-
mand. The sixth parameter defines the simultaneous linear move.
end1 and centre1 are on the current BASE axis. end2 and centre2 are on
the following axis.
The first 4 distance parameters are scaled according to the current unit con-
version factor for the BASE axis. The sixth parameter uses its own axis units.
Arguments • end1
Position on BASE axis to finish at.
• end2
Position on next axis in BASE array to finish at.
• centre1
Position on BASE axis about which to move.
• centre2
Position on next axis in BASE array about which to move.
• direction
The direction is a software switch which determines whether the arc is
interpolated in a clockwise or anti- clockwise direction. The parameter is
set to 0 or 1. See MOVECIRC.
• distance3
The distance to move on the third axis in the BASE array axis in user
units.
• mode
0 = Interpolate the third axis with the main two axis when calculating path
speed (true helical path).
1 = Interpolate only the first two axes for path speed, but move the third
axis in coordination with the other 2 axes (circular path with following
third axis). See second example below.
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