I – Interpolation (X, Y, Z Linear Interpolation)
This write-only command sets an XYZ interpolated move into the buffer. No speed designation is used with the standalone version, as the global HSPD value is used.
Applies to: CMD-4CR, CMD-4EX-SA, PMX-4EX-SA, PMX-4ET-SA
ASCII I
Standalone XYZ
Applies to: PMX-2EX-SA, PMX-2ED-SA
ASCII I
Standalone XY
Syntax:
Write:
ASCII
I[posX]:[posY]:[posZ]:[speed] Each target position must be separated by the ":" character
I[posX]:[posY] For the PMX-2EX-SA, PMX-2ED-SA controllers, only position X and Y are used
Standalone
X[posX]Y[posY]Z[posZ] There is no separation between each target position in standalone mode
X[posX]Y[posY] For the PMX-2EX-SA, PMX-2ED-SA controllers, only position X and Y are used
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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) [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
I2000:500:0:500 * Write a linear interpolation move to the buffer with X-axis target position 2000, Y-axis target position 500, Z-axis target position 0, operation speed 500
Standalone
X2000Y500Z0 * Write a linear interpolation move to the buffer with X-axis target position 2000, Y-axis target position 500, Z-axis target position 0, with operation using the global HSPD setting
Notes:
- For the PMX-2EX-SA and PMX-2ED-SA controllers, these commands do not require any other mode to operate.
- For the CMD-4CR, CMD-4EX-SA, PMX-4EX-SA and PMX-4ET-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