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Code Example

arc

 

Syntax
arc X-axis-end, Y-axis-end, X-axis-center, Y-axis-center, Direction
 

 

Function
Generates a 2-dimensional circular arc segment.
 

Controller Returns

None

Mode
Run, Command
 

Example
A = -7071
B = -7071
C = 0
D = 0
E = 1
F = 7071
G = 7071 

sposx 0
sposy 0 

vaccel 10000
vvel 200000 

rem make coordinated linear move to F,G
line F, G
done?

Rem make coordinated circular move to A and B with center at C and D.
arc A, B, C, D, E
done?
end

Code Example

done? 

Syntax
done?
 

 

Function

Halts the execution of the program until the coordinated motion is completed.  

 

Controller Returns

None 

 

Mode

Run

 

Example

rem Set the vector acceleration

vaccel 10000

rem Set the vector velocity

vvel 200000

C = 10000

D = 20000

E = 10000

F = 19000

G = 1

arc C, D, E, F, G

done?

end

 
Code Example

line

 

Syntax
line X-axis-end, Y-axis-end, Z-axis-end, W-axis-end
 

 

Function

Makes a coordinated linear motion

Controller Returns
None

Mode
Run, Command   

Example

A = -7071
B = -7071
C = 0
D = 0
E = 1
F = 7071
G = 7071 

sposx 0
sposy 0

vaccel 10000
vvel 200000 

rem make coordinated linear move to F,G
line F, G
done?

Rem make coordinated circular move to A and B with center at C and D.
arc A, B, C, D, E
done?
end

Code Example

vaccel

 

Syntax
vaccel
value 

 

Function

Sets the vector acceleration of the coordinated move to value or variable.

The value may not be modified while moving. The unit of value is in steps per sec2.

Range of Value
40,000 - 40,000,000
 

Mode
Run, Command

 

Example

A = -7071
B = -7071
C = 0
D = 0
E = 1
F = 7071
G = 7071
sposx 0
sposy 0
vaccel 10000
vvel 200000 

rem make coordinated linear move to F,G

line F, G
done?
Rem make coordinated circular move to A and B with center at C and D.

arc A, B, C, D, E
done?
end

Code Example

vvel

 

Syntax
vvel value
 

 

Function

Sets the vector velocity of the coordinated move to value or variable.

The value may not be modified while moving. The unit of value is in steps / Sec.  

Range of Value

200 200,000

 

Controller Returns
None
 

Mode
Run, Command

Example

A = -7071
B = -7071
C = 0
D = 0
E = 1
F = 7071
G = 7071 

sposx 0
sposy 0
vaccel 10000
vvel 200000 

rem make coordinated linear move to F,G
line F, G
done?
Rem make coordinated circular move to A and B with center at C and D.
arc A, B, C, D, E
done?
end

 


 

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