Parker Hannifin
Interpolation
Command Description
CIRCCW Counter clockwise circular move
CIRCW Clockwise circular move
INT Interruptible move
INVK Inverse kinematics
MOV Define a linear move
NURB NURBs interpolation mode
SINE Sinusoidal move
SPLINE Spline interpolation mode
TANG Tangential move mode
TARC 3-D circular interpolation
TRJ Start new trajectory
Logic Function
Command Description
CLR Clear a bit flag
DWL Delay for a given period
IHPOS Inhibit on position
INH Inhibit on bit high or low
MASK Safe bit masking
SET Set a bit flag
TRG Start move on trigger
Memory Control
Command Description
CLEAR Clear memory allocation
DIM Allocate memory
MEM Display memory allocation
34 Programmer’s Guide
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