I – 4 Axis Vector (X, Y, Z, U Linear Interpolation)
This write-only command sets an XYZU interpolated move into the buffer.
Applies to: CMD-4CR, CMD-4EX-SA with V202 or newer firmware
ASCII I
Syntax:
Write:
ASCII
I[posX]:[posY]:[posZ]:[posU]:[speed] Each target position must be separated by the ":" character
|
Where: [posX] specifies target position for X-axis (28-bit value) [posY] specifies target position for Y-axis (28-bit value) [posZ] specifies target position for Z-axis (28-bit value) [posU] specifies target position for U-axis (28-bit value) [speed]specifies buffered motion high speed (pps) with range of 1 – 6,553,500. |
Reply:
Command is accepted and executed
Write:
OK
Command cannot be processed
An error message is returned. See Error Codes
Example:
Write:
ASCII
I2000:500:0:100:500 * Write a linear interpolation move to the buffer with X-axis target position 2000, Y-axis target position 500, Z-axis target position 0, U-axis target position 100, operation speed 500
Notes:
- For the CMD-4CR, CMD-4EX-SA controllers, these commands require that the Buffer mode is enabled first. Use other buffer commands to initiate buffer operation.
- If an axis is not to move by the command, in ABS mode, set the target as the current axis position, in INC mode, set the target for that axis as zero.
See also:
Buffer Operation, Linear Interpolation